fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 07:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

microRTPS bridge: fix UART baudrate set

Browse Source
This commit is contained in:
TSC21
2019-11-19 15:37:18 +00:00
committed by Nuno Marques
parent 1bef35d843
commit 16f663ad52
3 changed files with 13 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+2 -9
View File
@@ -52,14 +52,7 @@
#define UPDATE_TIME_MS 0
#define LOOPS -1
#define SLEEP_MS 1
#define BAUDRATE B460800
#define BAUDRATE_VAL 460800
#ifndef B460800
#define B460800 460800
#endif
#ifndef B921600
#define B921600 921600
#endif
#define BAUDRATE 460800
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
#define IP "127.0.0.1"
@@ -84,7 +77,7 @@ struct options {
int update_time_ms = UPDATE_TIME_MS;
int loops = LOOPS;
int sleep_ms = SLEEP_MS;
struct baudtype baudrate = {.code = BAUDRATE, .val = BAUDRATE_VAL};
uint32_t baudrate = BAUDRATE;
int poll_ms = POLL_MS;
char ip[16] = IP;
uint16_t recv_port = DEFAULT_RECV_PORT;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+3 -30
View File
@@ -54,20 +54,6 @@ bool _should_exit_task = false;
Transport_node *transport_node = nullptr;
struct options _options;
const baudtype baudlist[] = {
[0] = {.code = B0, .val = 0},
[1] = {.code = B9600, .val = 9600},
[2] = {.code = B19200, .val = 19200},
[3] = {.code = B38400, .val = 38400},
[4] = {.code = B57600, .val = 57600},
[5] = {.code = B115200, .val = 115200},
[6] = {.code = B230400, .val = 230400},
[7] = {.code = B460800, .val = 460800},
[8] = {.code = B921600, .val = 921600}
};
baudtype getbaudrate(const char *valstr);
static void usage(const char *name)
{
PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
@@ -90,19 +76,6 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_COMMAND("status");
}
baudtype getbaudrate(const char *valstr)
{
int baudval;
if (px4_get_parameter_value(valstr, baudval) == 0) {
for (unsigned int i = 1; i < sizeof(baudlist) / sizeof(baudtype); i++) {
if (baudlist[i].val == (unsigned)baudval) { return baudlist[i]; }
}
}
return baudlist[0];
}
static int parse_options(int argc, char *argv[])
{
int ch;
@@ -123,7 +96,7 @@ static int parse_options(int argc, char *argv[])
case 'w': _options.sleep_ms = strtol(myoptarg, nullptr, 10); break;
case 'b': _options.baudrate = getbaudrate(myoptarg); break;
case 'b': _options.baudrate = strtoul(myoptarg, nullptr, 10); break;
case 'p': _options.poll_ms = strtol(myoptarg, nullptr, 10); break;
@@ -162,9 +135,9 @@ static int micrortps_start(int argc, char *argv[])
switch (_options.transport) {
case options::eTransports::UART: {
transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
PX4_INFO("UART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms",
_options.device, _options.baudrate.val, _options.sleep_ms, _options.poll_ms);
_options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms);
}
break;