diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/apps/hott_telemetry/hott_telemetry_main.c index c5932baeba..00b8f8d665 100644 --- a/apps/hott_telemetry/hott_telemetry_main.c +++ b/apps/hott_telemetry/hott_telemetry_main.c @@ -39,6 +39,15 @@ * * The HoTT receiver polls each device at a regular interval at which point * a data packet can be returned if necessary. + * + * NOTE: Since HoTT telemetry works half-duplex over a single wire the wire + * is connected to both the UART TX and RX port. In order to send and receive + * we need to be able to disable one of these ports at a time. This level of + * control is currently not provided by Nuttx (yet) so we need to do this + * at the hardware level for now. + * + * TODO: Add support for at least the vario and GPS sensors. + * */ #include @@ -53,7 +62,7 @@ #include "messages.h" -// The following are equired for UART direct manipulation. +/* The following are equired for UART direct manipulation. */ #include #include "up_arch.h" #include "chip.h" @@ -62,7 +71,7 @@ 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 uint32_t uart_addr; /**< The regsitry address of the UART for direct access */ /** * Deamon management function. */ @@ -77,6 +86,7 @@ static int read_data(int uart); static int send_data(int uart, const struct eam_module_msg *msg); static void uart_disable_rx(void); static void uart_disable_tx(void); +static uint32_t get_uart_address(const char *device); static int open_uart(const char *uart_name, struct termios *uart_config_original) { @@ -125,116 +135,6 @@ static int open_uart(const char *uart_name, struct termios *uart_config_original return uart; } -int hott_telemetry_thread_main(int argc, char *argv[]) -{ - printf("[hott_telemetry] starting\n"); - - thread_running = true; - - char *device = "/dev/ttyS2"; // UART5 - char *commandline_usage = "\tusage: hott_telemetry start|status|stop [-d device]\n"; - - /* 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 -m 1..4\n %s", commandline_usage); - } - } - } - - /* 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) { - fprintf(stderr, "[hott_telemetry] Failed opening HoTT UART, exiting.\n"); - thread_running = false; - exit(ERROR); - } - - messages_init(); - - struct eam_module_msg msg; - while (!thread_should_exit) { - build_eam_response(&msg); - if (read_data(uart) == OK) { - send_data(uart, &msg); - } - } - - printf("[hott_telemetry] exiting.\n"); - - /* close uarts */ - close(uart); - - thread_running = false; - - return 0; -} - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: deamon {start|stop|status} [-p ]\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int hott_telemetry_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("deamon already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("hott_telemetry", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 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) { - printf("\thott_telemetry is running\n"); - } else { - printf("\thott_telemetry not started\n"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - int read_data(int uart) { uart_disable_tx(); @@ -243,17 +143,15 @@ int read_data(int uart) struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; if (poll(fds, 1, timeout) > 0) { - // get the mode: binary or text + /* get the mode: binary or text */ char mode; read(uart, &mode, 1); - // read the poll ID (device ID being targetted) + /* read the poll ID (device ID being targetted) */ char id; read(uart, &id, 1); - //printf("Reading: mode='%x' id='%x'\n", mode, id); - - // if we have a binary mode request for our sensor ID let's run with it + /* if we have a binary mode request for our sensor ID let's run with it. */ if (mode != BINARY_MODE_REQUEST_ID || id != ELECTRIC_AIR_MODULE) { return ERROR; // not really an error, rather uninteresting. } @@ -278,38 +176,159 @@ int send_data(int uart, const struct eam_module_msg *msg) for(int i = 0; i < size; i++) { if (i == size - 1) { - // Set the checksum: the first uint8_t is taken as the checksum. + /* Set the checksum: the first uint8_t is taken as the checksum. */ buffer[i] = checksum & 0xff; } else { checksum += buffer[i]; } - //printf("%x ", buffer[i]); write(uart, &buffer[i], 1); - // Sleep before sending the next uint8_t. + /* Sleep before sending the next byte. */ usleep(POST_WRITE_DELAY_IN_USECS); } return OK; } -void uart_disable_rx() +void uart_disable_rx(void) { uint32_t cr; - cr = getreg32(STM32_UART5_CR1); + cr = getreg32(uart_addr); cr &= ~(USART_CR1_RE); // turn off RX cr |= (USART_CR1_TE); // turn on TX - putreg32(cr, STM32_UART5_CR1); + putreg32(cr, uart_addr); } -void uart_disable_tx() +void uart_disable_tx(void) { uint32_t cr; - cr = getreg32(STM32_UART5_CR1); + cr = getreg32(uart_addr); cr |= (USART_CR1_RE); // turn on RX cr &= ~(USART_CR1_TE); // turn off TX - putreg32(cr, STM32_UART5_CR1); + putreg32(cr, uart_addr); +} + +uint32_t get_uart_address(const char *device) +{ + /* Map the tty device number to the UART address */ + switch(device[strlen(device) - 1]) { + case '0': return STM32_USART1_CR1; + case '1': return STM32_USART2_CR1; + case '2': return STM32_UART5_CR1; + case '3': return STM32_USART6_CR1; + default: return STM32_UART5_CR1; + } +} + +int hott_telemetry_thread_main(int argc, char *argv[]) +{ + printf("[hott_telemetry] starting\n"); + + thread_running = true; + + char *commandline_usage = "\tusage: hott_telemetry start|status|stop [-d device]\n"; + char *device = "/dev/ttyS2"; /**< Default telemetry port: UART5 */ + + /* 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 -m 1..4\n %s", commandline_usage); + } + } + } + + /* 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) { + fprintf(stderr, "[hott_telemetry] Failed opening HoTT UART, exiting.\n"); + thread_running = false; + exit(ERROR); + } + + /* Since we need to enable/disable both TX and RX on the UART at the device level + * we need to know the register address of the UART we are working with. Making it + * global so it's easy to remove later when TX/RX control is provided by Nuttx. */ + uart_addr = get_uart_address(device); + + messages_init(); + + struct eam_module_msg msg; + while (!thread_should_exit) { + build_eam_response(&msg); + if (read_data(uart) == OK) { + send_data(uart, &msg); + } + } + + printf("[hott_telemetry] exiting.\n"); + + close(uart); + + thread_running = false; + + return 0; +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: deamon {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * Process command line arguments and tart the daemon. + */ +int hott_telemetry_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("deamon already running\n"); + /* this is not an error */ + 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) { + printf("\thott_telemetry is running\n"); + } else { + printf("\thott_telemetry not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); } + diff --git a/apps/hott_telemetry/messages.h b/apps/hott_telemetry/messages.h index 562010a06e..fb305cd8d2 100644 --- a/apps/hott_telemetry/messages.h +++ b/apps/hott_telemetry/messages.h @@ -43,10 +43,10 @@ #include -// The HoTT receiver demands a minimum 5ms period of silence after delivering its request. +/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request. */ #define POST_READ_DELAY_IN_USECS 4500 -// A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower -// values can be used in practise though. +/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower + values can be used in practise though. */ #define POST_WRITE_DELAY_IN_USECS 1500 // Protocol constants. @@ -55,10 +55,11 @@ #define STOP_BYTE 0x7d #define TEMP_ZERO_CELSIUS 0x14 -// Electric Air Module (EAM) constants. +/* Electric Air Module (EAM) constants. */ #define ELECTRIC_AIR_MODULE 0x8e #define EAM_SENSOR_ID 0xe0 +/* The Electric Air Module message. */ struct eam_module_msg { uint8_t start; /**< Start byte */ uint8_t eam_sensor_id; /**< EAM sensor ID */