diff options
Diffstat (limited to 'src/drivers/hott/hott_telemetry/hott_telemetry.cpp')
-rw-r--r-- | src/drivers/hott/hott_telemetry/hott_telemetry.cpp | 264 |
1 files changed, 264 insertions, 0 deletions
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp new file mode 100644 index 000000000..042d9f816 --- /dev/null +++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp @@ -0,0 +1,264 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks <sjwilks@gmail.com> + * + * 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 hott_telemetry_main.c + * @author Simon Wilks <sjwilks@gmail.com> + * + * Graupner HoTT Telemetry implementation. + * + * The HoTT receiver polls each device at a regular interval at which point + * a data packet can be returned if necessary. + * + */ + +#include <fcntl.h> +#include <nuttx/config.h> +#include <poll.h> +#include <stdlib.h> +#include <stdio.h> +#include <string.h> +#include <sys/ioctl.h> +#include <unistd.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> + +#include "../comms.h" +#include "../messages.h" + +#define DEFAULT_UART "/dev/ttyS0"; /**< USART1 */ + +/* Oddly, ERROR is not defined for C++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +static int thread_should_exit = false; /**< Deamon exit flag */ +static int thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ +static const char daemon_name[] = "hott_telemetry"; +static const char commandline_usage[] = "usage: hott_telemetry start|status|stop [-d <device>]"; + +/** + * Deamon management function. + */ +extern "C" __EXPORT int hott_telemetry_main(int argc, char *argv[]); + +/** + * Mainloop of daemon. + */ +int hott_telemetry_thread_main(int argc, char *argv[]); + +static int recv_req_id(int uart, uint8_t *id); +static int send_data(int uart, uint8_t *buffer, size_t size); + +int +recv_req_id(int uart, uint8_t *id) +{ + static const int timeout_ms = 1000; // TODO make it a define + + uint8_t mode; + + struct pollfd fds; + fds.fd = uart; + fds.events = POLLIN; + + if (poll(&fds, 1, timeout_ms) > 0) { + /* Get the mode: binary or text */ + read(uart, &mode, sizeof(mode)); + + /* if we have a binary mode request */ + if (mode != BINARY_MODE_REQUEST_ID) { + return ERROR; + } + + /* Read the device ID being polled */ + read(uart, id, sizeof(*id)); + } else { + warnx("UART timeout on TX/RX port"); + return ERROR; + } + + return OK; +} + +int +send_data(int uart, uint8_t *buffer, size_t size) +{ + usleep(POST_READ_DELAY_IN_USECS); + + uint16_t checksum = 0; + for (size_t i = 0; i < size; i++) { + if (i == size - 1) { + /* Set the checksum: the first uint8_t is taken as the checksum. */ + buffer[i] = checksum & 0xff; + + } else { + checksum += buffer[i]; + } + + write(uart, &buffer[i], sizeof(buffer[i])); + + /* Sleep before sending the next byte. */ + usleep(POST_WRITE_DELAY_IN_USECS); + } + + /* A hack the reads out what was written so the next read from the receiver doesn't get it. */ + /* TODO: Fix this!! */ + uint8_t dummy[size]; + read(uart, &dummy, size); + + return OK; +} + +int +hott_telemetry_thread_main(int argc, char *argv[]) +{ + warnx("starting"); + + thread_running = true; + + const char *device = DEFAULT_UART; + + /* read commandline arguments */ + for (int i = 0; i < argc && argv[i]; i++) { + if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set + if (argc > i + 1) { + device = argv[i + 1]; + + } else { + thread_running = false; + errx(1, "missing parameter to -d\n%s", commandline_usage); + } + } + } + + /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ + const int uart = open_uart(device); + if (uart < 0) { + errx(1, "Failed opening HoTT UART, exiting."); + thread_running = false; + } + + init_sub_messages(); + + uint8_t buffer[MAX_MESSAGE_BUFFER_SIZE]; + size_t size = 0; + uint8_t id = 0; + bool connected = true; + while (!thread_should_exit) { + // Listen for and serve poll from the receiver. + if (recv_req_id(uart, &id) == OK) { + if (!connected) { + connected = true; + warnx("OK"); + } + + switch (id) { + case EAM_SENSOR_ID: + build_eam_response(buffer, &size); + break; + case GAM_SENSOR_ID: + build_gam_response(buffer, &size); + break; + case GPS_SENSOR_ID: + build_gps_response(buffer, &size); + break; + + default: + continue; // Not a module we support. + } + + send_data(uart, buffer, size); + } else { + connected = false; + warnx("syncing"); + } + } + + warnx("exiting"); + + close(uart); + + thread_running = false; + + return 0; +} + +/** + * Process command line arguments and start the daemon. + */ +int +hott_telemetry_main(int argc, char *argv[]) +{ + if (argc < 1) { + errx(1, "missing command\n%s", commandline_usage); + } + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + warnx("deamon already running"); + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn_cmd(daemon_name, + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 2048, + hott_telemetry_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + warnx("daemon is running"); + + } else { + warnx("daemon not started"); + } + + exit(0); + } + + errx(1, "unrecognized command\n%s", commandline_usage); +} |