1 files changed, 306 insertions, 0 deletions
diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c
new file mode 100644
index 000000000..a13a6ef58
--- /dev/null
+++ b/src/drivers/hott_telemetry/hott_telemetry_main.c
@@ -0,0 +1,306 @@
+/****************************************************************************
+ *
+ *   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/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 char *daemon_name = "hott_telemetry";
+static char *commandline_usage = "usage: hott_telemetry start|status|stop [-d <device>]";
+
+
+/* A little console messaging experiment - console helper macro */
+#define FATAL_MSG(_msg)		fprintf(stderr, "[%s] %s\n", daemon_name, _msg); exit(1);
+#define ERROR_MSG(_msg)		fprintf(stderr, "[%s] %s\n", daemon_name, _msg);
+#define INFO_MSG(_msg)		printf("[%s] %s\n", daemon_name, _msg);
+/**
+ * Deamon management function.
+ */
+__EXPORT int hott_telemetry_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int hott_telemetry_thread_main(int argc, char *argv[]);
+
+static int read_data(int uart, int *id);
+static int send_data(int uart, uint8_t *buffer, int size);
+
+static int open_uart(const char *device, struct termios *uart_config_original)
+{
+	/* baud rate */
+	int speed = B19200;
+	int uart;
+
+	/* open uart */
+	uart = open(device, O_RDWR | O_NOCTTY);
+
+	if (uart < 0) {
+		char msg[80];
+		sprintf(msg, "Error opening port: %s\n", device);
+		FATAL_MSG(msg);
+	}
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	/* Back up the original uart configuration to restore it after exit */
+	char msg[80];
+
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		sprintf(msg, "Error getting baudrate / termios config for %s: %d\n", device, termios_state);
+		close(uart);
+		FATAL_MSG(msg);
+	}
+
+	/* Fill the struct for the new configuration */
+	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) {
+		sprintf(msg, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n",
+			device, termios_state);
+		close(uart);
+		FATAL_MSG(msg);
+	}
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		sprintf(msg, "Error setting baudrate / termios config for %s (tcsetattr)\n", device);
+		close(uart);
+		FATAL_MSG(msg);
+	}
+
+	/* Activate single wire mode */
+	ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+
+	return uart;
+}
+
+int read_data(int uart, int *id)
+{
+	const int timeout = 1000;
+	struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
+
+	char mode;
+
+	if (poll(fds, 1, timeout) > 0) {
+		/* Get the mode: binary or text  */
+		read(uart, &mode, 1);
+		/* Read the device ID being polled */
+		read(uart, id, 1);
+
+		/* if we have a binary mode request */
+		if (mode != BINARY_MODE_REQUEST_ID) {
+			return ERROR;
+		}
+
+	} else {
+		ERROR_MSG("UART timeout on TX/RX port");
+		return ERROR;
+	}
+
+	return OK;
+}
+
+int send_data(int uart, uint8_t *buffer, int size)
+{
+	usleep(POST_READ_DELAY_IN_USECS);
+
+	uint16_t checksum = 0;
+
+	for (int 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], 1);
+
+		/* 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[])
+{
+	INFO_MSG("starting");
+
+	thread_running = true;
+
+	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;
+				ERROR_MSG("missing parameter to -d");
+				ERROR_MSG(commandline_usage);
+				exit(1);
+			}
+		}
+	}
+
+	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
+	struct termios uart_config_original;
+	int uart = open_uart(device, &uart_config_original);
+
+	if (uart < 0) {
+		ERROR_MSG("Failed opening HoTT UART, exiting.");
+		thread_running = false;
+		exit(ERROR);
+	}
+
+	messages_init();
+
+	uint8_t buffer[MESSAGE_BUFFER_SIZE];
+	int size = 0;
+	int id = 0;
+
+	while (!thread_should_exit) {
+		if (read_data(uart, &id) == OK) {
+			switch (id) {
+			case ELECTRIC_AIR_MODULE:
+				build_eam_response(buffer, &size);
+				break;
+
+			default:
+				continue;	// Not a module we support.
+			}
+
+			send_data(uart, buffer, size);
+		}
+	}
+
+	INFO_MSG("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) {
+		ERROR_MSG("missing command");
+		ERROR_MSG(commandline_usage);
+		exit(1);
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			INFO_MSG("deamon already running");
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("hott_telemetry",
+					 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) {
+			INFO_MSG("daemon is running");
+
+		} else {
+			INFO_MSG("daemon not started");
+		}
+
+		exit(0);
+	}
+
+	ERROR_MSG("unrecognized command");
+	ERROR_MSG(commandline_usage);
+	exit(1);
+}
+
+
+