1 files changed, 0 insertions, 344 deletions
diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c
deleted file mode 100644
index 2c954e41e..000000000
--- a/src/drivers/hott_telemetry/hott_telemetry_main.c
+++ /dev/null
@@ -1,344 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- * TODO: Add support for at least the vario and GPS sensor data.
- */
-
-#include <fcntl.h>
-#include <nuttx/config.h>
-#include <poll.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <termios.h>
-#include <sys/ioctl.h>
-#include <unistd.h>
-#include <systemlib/err.h>
-#include <systemlib/systemlib.h>
-
-#include "messages.h"
-
-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.
- */
-__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);
-
-static int
-open_uart(const char *device, struct termios *uart_config_original)
-{
-	/* baud rate */
-	static const speed_t speed = B19200;
-
-	/* open uart */
-	const int uart = open(device, O_RDWR | O_NOCTTY);
-
-	if (uart < 0) {
-		err(1, "Error opening port: %s", device);
-	}
-	
-	/* Back up the original uart configuration to restore it after exit */	
-	int termios_state;
-	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-		close(uart);
-		err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
-	}
-
-	/* Fill the struct for the new configuration */
-	struct termios uart_config;
-	tcgetattr(uart, &uart_config);
-
-	/* Clear ONLCR flag (which appends a CR for every LF) */
-	uart_config.c_oflag &= ~ONLCR;
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		close(uart);
-		err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
-			 device, termios_state);
-	}
-
-	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-		close(uart);
-		err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
-	}
-
-	/* Activate single wire mode */
-	ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
-
-	return uart;
-}
-
-int
-recv_req_id(int uart, uint8_t *id)
-{
-	static const int timeout_ms = 1000;  // TODO make it a define
-	struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
-
-	uint8_t mode;
-
-	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
-recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t id)
-{
-	usleep(100000);
-
-	static const int timeout_ms = 200;
-	struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
-
-	int i = 0;
-	if (poll(fds, 1, timeout_ms) > 0) {
-		while (true) {
-			read(uart, &buffer[i], sizeof(buffer[i]));
-
-			if (&buffer[i] == STOP_BYTE) {
-				*size = ++i;
-				id = &buffer[1];
-				return OK;
-			}
-		}
-	}
-	return ERROR;
-}
-
-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 = "/dev/ttyS1";		/**< Default telemetry port: USART2 */
-
-	/* 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 */
-	struct termios uart_config_original;
-	const int uart = open_uart(device, &uart_config_original);
-
-	if (uart < 0) {
-		errx(1, "Failed opening HoTT UART, exiting.");
-		thread_running = false;
-	}
-
-	messages_init();
-
-	uint8_t buffer[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 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");
-		}
-
-		// Poll the next HoTT devices.
-		// TODO(sjwilks): Currently there is only one but if there would be more we would round-robin
-		// calling one for every loop iteration.
-		build_esc_request(&buffer, &size);
-		send_data(uart, buffer, size);
-
-		// Listen for a response.
-		recv_data(uart, &buffer, &size, &id);
-
-		for (size_t i = 0; i < size; i++) {
-			warnx("%d", buffer[i]);
-		}
-
-		// Determine which moduel sent it and process accordingly.
-		if (id == ESC_SENSOR_ID) {
-			extract_esc_message(buffer);
-		} else {
-			warnx("Unknown sensor ID received: %d", id);
-		}
-	}
-
-	warnx("exiting");
-
-	close(uart);
-
-	thread_running = false;
-
-	return 0;
-}
-
-/**
- * Process command line arguments and tart 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(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);
-}