diff options
Diffstat (limited to 'src/modules/mavlink')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 156 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 11 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 |
3 files changed, 119 insertions, 50 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index e1c53a599..11882f0f4 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -104,55 +104,90 @@ static struct file_operations fops; */ extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); +static uint64_t last_write_times[6] = {0}; + /* * Internal function to send the bytes through the right serial port */ void mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) { - int uart = -1; + Mavlink *instance; switch (channel) { case MAVLINK_COMM_0: - uart = Mavlink::get_uart_fd(0); + instance = Mavlink::get_instance(0); break; case MAVLINK_COMM_1: - uart = Mavlink::get_uart_fd(1); + instance = Mavlink::get_instance(1); break; case MAVLINK_COMM_2: - uart = Mavlink::get_uart_fd(2); + instance = Mavlink::get_instance(2); break; case MAVLINK_COMM_3: - uart = Mavlink::get_uart_fd(3); + instance = Mavlink::get_instance(3); break; #ifdef MAVLINK_COMM_4 case MAVLINK_COMM_4: - uart = Mavlink::get_uart_fd(4); + instance = Mavlink::get_instance(4); break; #endif #ifdef MAVLINK_COMM_5 case MAVLINK_COMM_5: - uart = Mavlink::get_uart_fd(5); + instance = Mavlink::get_instance(5); break; #endif #ifdef MAVLINK_COMM_6 case MAVLINK_COMM_6: - uart = Mavlink::get_uart_fd(6); + instance = Mavlink::get_instance(6); break; #endif } + /* no valid instance, bail */ + if (!instance) + return; + + int uart = instance->get_uart_fd(); + ssize_t desired = (sizeof(uint8_t) * length); + + /* + * Check if the OS buffer is full and disable HW + * flow control if it continues to be full + */ + int buf_free = 0; + + if (instance->get_flow_control_enabled() + && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { + + if (buf_free == 0) { + + if (last_write_times[(unsigned)channel] != 0 && + hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) { + + warnx("DISABLING HARDWARE FLOW CONTROL"); + instance->enable_flow_control(false); + } + + } else { + + /* apparently there is space left, although we might be + * partially overflooding the buffer already */ + last_write_times[(unsigned)channel] = hrt_absolute_time(); + } + } + ssize_t ret = write(uart, ch, desired); if (ret != desired) { - warn("write err"); + // XXX do something here, but change to using FIONWRITE and OS buf size for detection } } @@ -173,11 +208,13 @@ Mavlink::Mavlink() : _mavlink_param_queue_index(0), _subscribe_to_stream(nullptr), _subscribe_to_stream_rate(0.0f), + _flow_control_enabled(true), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mavlink")) { _wpm = &_wpm_s; + mission.count = 0; fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl; _instance_id = Mavlink::instance_count(); @@ -511,7 +548,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) { - warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); + warnx("ERR GET CONF %s: %d\n", uart_name, termios_state); close(_uart_fd); return -1; } @@ -527,7 +564,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * /* Set baud rate */ 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); + warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state); close(_uart_fd); return -1; } @@ -535,15 +572,47 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * } if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + warnx("ERR SET CONF %s\n", uart_name); close(_uart_fd); return -1; } + /* + * Setup hardware flow control. If the port has no RTS pin this call will fail, + * which is not an issue, but requires a separate call so we can fail silently. + */ + (void)tcgetattr(_uart_fd, &uart_config); + uart_config.c_cflag |= CRTS_IFLOW; + (void)tcsetattr(_uart_fd, TCSANOW, &uart_config); + + /* setup output flow control */ + if (enable_flow_control(true)) { + warnx("ERR FLOW CTRL EN"); + } + return _uart_fd; } int +Mavlink::enable_flow_control(bool enabled) +{ + struct termios uart_config; + int ret = tcgetattr(_uart_fd, &uart_config); + if (enabled) { + uart_config.c_cflag |= CRTSCTS; + } else { + uart_config.c_cflag &= ~CRTSCTS; + } + ret = tcsetattr(_uart_fd, TCSANOW, &uart_config); + + if (!ret) { + _flow_control_enabled = enabled; + } + + return ret; +} + +int Mavlink::set_hil_enabled(bool hil_enabled) { int ret = OK; @@ -639,7 +708,7 @@ int Mavlink::mavlink_pm_send_param(param_t param) mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, - MAVLINK_COMM_0, + _channel, &tx_msg, name_buf, val_buf, @@ -834,7 +903,7 @@ void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8 wpa.target_component = compid; wpa.type = type; - mavlink_msg_mission_ack_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpa); + mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } @@ -857,7 +926,7 @@ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) wpc.seq = seq; - mavlink_msg_mission_current_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc); + mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); mavlink_missionlib_send_message(&msg); } else if (seq == 0 && _wpm->size == 0) { @@ -880,7 +949,7 @@ void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uin wpc.target_component = compid; wpc.count = mission.count; - mavlink_msg_mission_count_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc); + mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } @@ -911,7 +980,7 @@ void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t wp.target_system = sysid; wp.target_component = compid; wp.seq = seq; - mavlink_msg_mission_item_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp); + mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); } @@ -931,7 +1000,7 @@ void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, u wpr.target_system = sysid; wpr.target_component = compid; wpr.seq = seq; - mavlink_msg_mission_request_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpr); + mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } @@ -957,7 +1026,7 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) wp_reached.seq = seq; - mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp_reached); + mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); } @@ -1514,7 +1583,7 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) /* copy stream name */ unsigned n = strlen(stream_name) + 1; char *s = new char[n]; - memcpy(s, stream_name, n); + strcpy(s, stream_name); /* set subscription task */ _subscribe_to_stream_rate = rate; @@ -1530,10 +1599,6 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) int Mavlink::task_main(int argc, char *argv[]) { - /* inform about start */ - warnx("start"); - fflush(stdout); - int ch; _baudrate = 57600; _datarate = 0; @@ -1630,8 +1695,7 @@ Mavlink::task_main(int argc, char *argv[]) _mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; - warnx("data rate: %d bytes/s", _datarate); - warnx("port: %s, baudrate: %d", _device_name, _baudrate); + warnx("data rate: %d bps, port: %s, baud: %d", _datarate, _device_name, (int)_baudrate); /* flush stdout in case MAVLink is about to take it over */ fflush(stdout); @@ -1676,9 +1740,6 @@ Mavlink::task_main(int argc, char *argv[]) struct vehicle_status_s *status = (struct vehicle_status_s *) status_sub->get_data(); - warnx("started"); - mavlink_log_info(_mavlink_fd, "[mavlink] started"); - /* add default streams depending on mode and intervals depending on datarate */ float rate_mult = _datarate / 1000.0f; @@ -1705,7 +1766,7 @@ Mavlink::task_main(int argc, char *argv[]) _mavlink_param_queue_index = param_count(); MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult); - MavlinkRateLimiter fast_rate_limiter(100000.0f / rate_mult); + MavlinkRateLimiter fast_rate_limiter(20000.0f / rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; @@ -1884,36 +1945,33 @@ Mavlink::stream(int argc, char *argv[]) const char *stream_name = nullptr; int ch; - argc -= 1; - argv += 1; + argc -= 2; + argv += 2; /* don't exit from getopt loop to leave getopt global variables in consistent state, * set error flag instead */ bool err_flag = false; - while ((ch = getopt(argc, argv, "r:d:s:")) != EOF) { - switch (ch) { - case 'r': - rate = strtod(optarg, nullptr); + int i = 0; + while (i < argc) { + if (0 == strcmp(argv[i], "-r") && i < argc - 1 ) { + rate = strtod(argv[i+1], nullptr); if (rate < 0.0f) { err_flag = true; } - - break; - - case 'd': - device_name = optarg; - break; - - case 's': - stream_name = optarg; - break; - - default: + i++; + } else if (0 == strcmp(argv[i], "-d") && i < argc - 1 ) { + device_name = argv[i+1]; + i++; + } else if (0 == strcmp(argv[i], "-s") && i < argc - 1 ) { + stream_name = argv[i+1]; + i++; + } else { err_flag = true; - break; } + + i++; } if (!err_flag && rate >= 0.0 && stream_name != nullptr) { diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 3a8625c6b..e6e20eb93 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -154,6 +154,8 @@ public: bool get_hil_enabled() { return _hil_enabled; }; + bool get_flow_control_enabled() { return _flow_control_enabled; } + /** * Handle waypoint related messages. */ @@ -182,6 +184,13 @@ public: int get_instance_id(); + /** + * Enable / disable hardware flow control. + * + * @param enabled True if hardware flow control should be enabled + */ + int enable_flow_control(bool enabled); + mavlink_channel_t get_channel(); bool _task_should_exit; /**< if true, mavlink task should exit */ @@ -239,6 +248,8 @@ private: char *_subscribe_to_stream; float _subscribe_to_stream_rate; + bool _flow_control_enabled; + /** * Send one parameter. * diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index fa63e06c5..c222a3ddf 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -912,7 +912,7 @@ MavlinkReceiver::receive_thread(void *arg) _mavlink->mavlink_wpm_message_handler(&msg); /* handle packet with parameter component */ - _mavlink->mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); + _mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg); } } } |