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author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-25 00:16:02 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-25 00:16:02 +0200 |
commit | 8f0af1c5fe5a843c56fff2dc70acb2fc0e7e1b90 (patch) | |
tree | f2773e147802afa920ab667a5ba07f71eee333dd /src | |
parent | c486aa536f3c0169e1abb0f4c2b60baa1e2b053b (diff) | |
download | px4-firmware-8f0af1c5fe5a843c56fff2dc70acb2fc0e7e1b90.tar.gz px4-firmware-8f0af1c5fe5a843c56fff2dc70acb2fc0e7e1b90.tar.bz2 px4-firmware-8f0af1c5fe5a843c56fff2dc70acb2fc0e7e1b90.zip |
mavlink: forwarding and FTP fixed, flow control detector fixed
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 97 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 19 |
2 files changed, 77 insertions, 39 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index e27a940cf..aaee0455a 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -93,7 +93,7 @@ static const int ERROR = -1; #define MAX_DATA_RATE 10000 // max data rate in bytes/s #define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate -#define TX_BUFFER_GAP 256 +#define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN static Mavlink *_mavlink_instances = nullptr; @@ -252,25 +252,6 @@ Mavlink::count_txerr() perf_count(_txerr_perf); } -unsigned -Mavlink::get_free_tx_buf() -{ - unsigned buf_free; - - if (!ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free)) { - if (_rstatus.telem_time > 0 && - (hrt_elapsed_time(&_rstatus.telem_time) < (2 * 1000 * 1000))) { - - return (unsigned)(buf_free * 0.01f * _rstatus.txbuf); - - } else { - return buf_free; - } - } else { - return 0; - } -} - void Mavlink::set_mode(enum MAVLINK_MODE mode) { @@ -686,15 +667,9 @@ Mavlink::set_hil_enabled(bool hil_enabled) return ret; } -void -Mavlink::send_message(const uint8_t msgid, const void *msg) +unsigned +Mavlink::get_free_tx_buf() { - /* If the wait until transmit flag is on, only transmit after we've received messages. - Otherwise, transmit all the time. */ - if (!should_transmit()) { - return; - } - /* * Check if the OS buffer is full and disable HW * flow control if it continues to be full @@ -702,7 +677,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) int buf_free = 0; (void) ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free); - if (get_flow_control_enabled() && buf_free == 0) { + if (get_flow_control_enabled() && buf_free < TX_BUFFER_GAP) { /* Disable hardware flow control: * if no successful write since a defined time * and if the last try was not the last successful write @@ -714,6 +689,19 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) enable_flow_control(false); } } + return buf_free; +} + +void +Mavlink::send_message(const uint8_t msgid, const void *msg) +{ + /* If the wait until transmit flag is on, only transmit after we've received messages. + Otherwise, transmit all the time. */ + if (!should_transmit()) { + return; + } + + int buf_free = get_free_tx_buf(); uint8_t payload_len = mavlink_message_lengths[msgid]; unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; @@ -722,7 +710,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) /* check if there is space in the buffer, let it overflow else */ if (buf_free < TX_BUFFER_GAP) { - warnx("SKIP msgid %i, %i bytes", msgid, packet_len); + warnx("SKIP msgid %i, %i bytes, free %i", msgid, packet_len, buf_free); /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -765,6 +753,52 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) } void +Mavlink::resend_message(mavlink_message_t *msg) +{ + /* If the wait until transmit flag is on, only transmit after we've received messages. + Otherwise, transmit all the time. */ + if (!should_transmit()) { + return; + } + + int buf_free = get_free_tx_buf(); + + _last_write_try_time = hrt_absolute_time(); + + unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; + + /* check if there is space in the buffer, let it overflow else */ + if (buf_free < TX_BUFFER_GAP) { + warnx("SKIP resent msgid %i, %i bytes, free %i", msg->msgid, packet_len, buf_free); + /* no enough space in buffer to send */ + count_txerr(); + count_txerrbytes(packet_len); + return; + } + + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; + + /* header and payload */ + memcpy(&buf[0], &msg->magic, MAVLINK_NUM_HEADER_BYTES + msg->len); + + /* checksum */ + buf[MAVLINK_NUM_HEADER_BYTES + msg->len] = (uint8_t)(msg->checksum & 0xFF); + buf[MAVLINK_NUM_HEADER_BYTES + msg->len + 1] = (uint8_t)(msg->checksum >> 8); + + /* send message to UART */ + ssize_t ret = write(_uart_fd, buf, packet_len); + + if (ret != (int) packet_len) { + count_txerr(); + count_txerrbytes(packet_len); + + } else { + _last_write_success_time = _last_write_try_time; + count_txbytes(packet_len); + } +} + +void Mavlink::handle_message(const mavlink_message_t *msg) { /* handle packet with mission manager */ @@ -1411,8 +1445,7 @@ Mavlink::task_main(int argc, char *argv[]) pthread_mutex_unlock(&_message_buffer_mutex); - // TODO implement message resending - //_mavlink_resend_uart(_channel, &msg); + resend_message(&msg); } } diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index e3bad828f..4121e286e 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -162,6 +162,11 @@ public: void send_message(const uint8_t msgid, const void *msg); + /** + * Resend message as is, don't change sequence number and CRC. + */ + void resend_message(mavlink_message_t *msg); + void handle_message(const mavlink_message_t *msg); MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic); @@ -252,13 +257,6 @@ public: void count_rxbytes(unsigned n) { _bytes_rx += n; }; /** - * Get the free space in the transmit buffer - * - * @return free space in the UART TX buffer - */ - unsigned get_free_tx_buf(); - - /** * Get the receive status of this MAVLink link */ struct telemetry_status_s& get_rx_status() { return _rstatus; } @@ -358,6 +356,13 @@ private: int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); + /** + * Get the free space in the transmit buffer + * + * @return free space in the UART TX buffer + */ + unsigned get_free_tx_buf(); + static unsigned int interval_from_rate(float rate); int configure_stream(const char *stream_name, const float rate); |