1 files changed, 266 insertions, 0 deletions
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
new file mode 100644
index 000000000..7b08ca69e
--- /dev/null
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -0,0 +1,266 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file frsky_telemetry.c
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ * This daemon emulates an FrSky sensor hub by periodically sending data
+ * packets to an attached FrSky receiver.
+ *
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <termios.h>
+
+#include "frsky_data.h"
+
+
+/* thread state */
+static volatile bool thread_should_exit = false;
+static volatile bool thread_running = false;
+static int frsky_task;
+
+/* functions */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
+static void usage(void);
+static int frsky_telemetry_thread_main(int argc, char *argv[]);
+__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
+
+
+/**
+ * Opens the UART device and sets all required serial parameters.
+ */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
+{
+	/* Open UART */
+	const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
+
+	if (uart < 0) {
+		err(1, "Error opening port: %s", uart_name);
+	}
+
+	/* Back up the original UART configuration to restore it after exit */
+	int termios_state;
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	/* Fill the struct for the new configuration */
+	struct termios uart_config;
+	tcgetattr(uart, &uart_config);
+
+	/* Disable output post-processing */
+	uart_config.c_oflag &= ~OPOST;
+
+	/* Set baud rate */
+	static const speed_t speed = B9600;
+
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		close(uart);
+		return -1;
+	}
+
+	return uart;
+}
+
+/**
+ * Print command usage information
+ */
+static void usage()
+{
+	fprintf(stderr,
+			"usage: frsky_telemetry start [-d <devicename>]\n"
+			"       frsky_telemetry stop\n"
+			"       frsky_telemetry status\n");
+	exit(1);
+}
+
+/**
+ * The daemon thread.
+ */
+static int frsky_telemetry_thread_main(int argc, char *argv[])
+{
+	/* Default values for arguments */
+	char *device_name = "/dev/ttyS1"; /* USART2 */
+
+	/* Work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+
+	int ch;
+	while ((ch = getopt(argc, argv, "d:")) != EOF) {
+		switch (ch) {
+		case 'd':
+			device_name = optarg;
+			break;
+
+		default:
+			usage();
+			break;
+		}
+	}
+
+	/* Print welcome text */
+	warnx("FrSky telemetry interface starting...");
+
+	/* Open UART */
+	struct termios uart_config_original;
+	const int uart = frsky_open_uart(device_name, &uart_config_original);
+
+	if (uart < 0)
+		err(1, "could not open %s", device_name);
+
+	/* Subscribe to topics */
+	frsky_init();
+
+	thread_running = true;
+
+	/* Main thread loop */
+	unsigned int iteration = 0;
+	while (!thread_should_exit) {
+
+		/* Sleep 200 ms */
+		usleep(200000);
+
+		/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
+		frsky_send_frame1(uart);
+
+		/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
+		if (iteration % 5 == 0)
+		{
+			frsky_send_frame2(uart);
+		}
+
+		/* Send frame 3 (every 5000ms): date, time */
+		if (iteration % 25 == 0)
+		{
+			frsky_send_frame3(uart);
+
+			iteration = 0;
+		}
+
+		iteration++;
+	}
+
+	/* Reset the UART flags to original state */
+	tcsetattr(uart, TCSANOW, &uart_config_original);
+	close(uart);
+
+	thread_running = false;
+	return 0;
+}
+
+/**
+ * The main command function.
+ * Processes command line arguments and starts the daemon.
+ */
+int frsky_telemetry_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		warnx("missing command");
+		usage();
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		/* this is not an error */
+		if (thread_running)
+			errx(0, "frsky_telemetry already running");
+
+		thread_should_exit = false;
+		frsky_task = task_spawn_cmd("frsky_telemetry",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2048,
+					  frsky_telemetry_thread_main,
+					  (const char **)argv);
+
+		while (!thread_running) {
+			usleep(200);
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		/* this is not an error */
+		if (!thread_running)
+			errx(0, "frsky_telemetry already stopped");
+
+		thread_should_exit = true;
+
+		while (thread_running) {
+			usleep(200000);
+			warnx(".");
+		}
+
+		warnx("terminated.");
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			errx(0, "running");
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	usage();
+	/* not getting here */
+	return 0;
+}