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Linux: Added config and stubs to compile I2C device for Linux
Not yet functional. Full implementation will provide an IOCTL interface to do bi-directional transfer. will model the interface after Linux. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
@@ -32,383 +32,8 @@
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****************************************************************************/
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#pragma once
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<<<<<<< HEAD
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#include <stdbool.h>
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#include <nuttx/fs/fs.h>
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#include <systemlib/param/param.h>
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#include <systemlib/perf_counter.h>
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#include <pthread.h>
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#include <mavlink/mavlink_log.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/mission_result.h>
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#include <uORB/topics/telemetry_status.h>
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#include "mavlink_bridge_header.h"
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#include "mavlink_orb_subscription.h"
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#include "mavlink_stream.h"
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#include "mavlink_messages.h"
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#include "mavlink_mission.h"
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#include "mavlink_parameters.h"
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class Mavlink
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{
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public:
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/**
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* Constructor
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*/
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Mavlink();
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/**
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* Destructor, also kills the mavlinks task.
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*/
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~Mavlink();
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/**
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* Start the mavlink task.
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*
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* @return OK on success.
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*/
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static int start(int argc, char *argv[]);
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/**
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* Display the mavlink status.
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*/
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void display_status();
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static int stream_command(int argc, char *argv[]);
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static int instance_count();
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static Mavlink *new_instance();
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static Mavlink *get_instance(unsigned instance);
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static Mavlink *get_instance_for_device(const char *device_name);
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static int destroy_all_instances();
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static int get_status_all_instances();
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static bool instance_exists(const char *device_name, Mavlink *self);
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static void forward_message(const mavlink_message_t *msg, Mavlink *self);
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static int get_uart_fd(unsigned index);
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int get_uart_fd();
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/**
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* Get the MAVLink system id.
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*
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* @return The system ID of this vehicle
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*/
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int get_system_id();
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/**
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* Get the MAVLink component id.
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*
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* @return The component ID of this vehicle
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*/
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int get_component_id();
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const char *_device_name;
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enum MAVLINK_MODE {
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MAVLINK_MODE_NORMAL = 0,
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MAVLINK_MODE_CUSTOM,
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MAVLINK_MODE_ONBOARD
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};
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void set_mode(enum MAVLINK_MODE);
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enum MAVLINK_MODE get_mode() { return _mode; }
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bool get_hil_enabled() { return _hil_enabled; }
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bool get_use_hil_gps() { return _use_hil_gps; }
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bool get_forward_externalsp() { return _forward_externalsp; }
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bool get_flow_control_enabled() { return _flow_control_enabled; }
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bool get_forwarding_on() { return _forwarding_on; }
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/**
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* Get the free space in the transmit buffer
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*
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* @return free space in the UART TX buffer
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*/
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unsigned get_free_tx_buf();
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static int start_helper(int argc, char *argv[]);
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/**
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* Handle parameter related messages.
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*/
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void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
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void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
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/**
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* Enable / disable Hardware in the Loop simulation mode.
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*
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* @param hil_enabled The new HIL enable/disable state.
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* @return OK if the HIL state changed, ERROR if the
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* requested change could not be made or was
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* redundant.
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*/
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int set_hil_enabled(bool hil_enabled);
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void send_message(const uint8_t msgid, const void *msg, uint8_t component_ID = 0);
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/**
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* Resend message as is, don't change sequence number and CRC.
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*/
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void resend_message(mavlink_message_t *msg);
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void handle_message(const mavlink_message_t *msg);
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MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic, int instance=0);
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int get_instance_id();
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/**
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* Enable / disable hardware flow control.
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*
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* @param enabled True if hardware flow control should be enabled
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*/
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int enable_flow_control(bool enabled);
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mavlink_channel_t get_channel();
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void configure_stream_threadsafe(const char *stream_name, float rate);
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bool _task_should_exit; /**< if true, mavlink task should exit */
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int get_mavlink_fd() { return _mavlink_fd; }
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/**
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* Send a status text with loglevel INFO
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*
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* @param string the message to send (will be capped by mavlink max string length)
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*/
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void send_statustext_info(const char *string);
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/**
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* Send a status text with loglevel CRITICAL
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*
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* @param string the message to send (will be capped by mavlink max string length)
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*/
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void send_statustext_critical(const char *string);
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/**
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* Send a status text with loglevel EMERGENCY
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*
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* @param string the message to send (will be capped by mavlink max string length)
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*/
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void send_statustext_emergency(const char *string);
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/**
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* Send a status text with loglevel, the difference from mavlink_log_xxx() is that message sent
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* only on this mavlink connection. Useful for reporting communication specific, not system-wide info
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* only to client interested in it. Message will be not sent immediately but queued in buffer as
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* for mavlink_log_xxx().
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*
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* @param string the message to send (will be capped by mavlink max string length)
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* @param severity the log level
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*/
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void send_statustext(unsigned char severity, const char *string);
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MavlinkStream * get_streams() const { return _streams; }
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float get_rate_mult();
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/* Functions for waiting to start transmission until message received. */
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void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
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bool get_has_received_messages() { return _received_messages; }
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void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
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bool get_wait_to_transmit() { return _wait_to_transmit; }
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bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
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bool message_buffer_write(const void *ptr, int size);
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void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
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void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
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/**
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* Count a transmision error
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*/
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void count_txerr();
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/**
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* Count transmitted bytes
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*/
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void count_txbytes(unsigned n) { _bytes_tx += n; };
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/**
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* Count bytes not transmitted because of errors
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*/
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void count_txerrbytes(unsigned n) { _bytes_txerr += n; };
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/**
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* Count received bytes
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*/
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void count_rxbytes(unsigned n) { _bytes_rx += n; };
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/**
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* Get the receive status of this MAVLink link
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*/
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struct telemetry_status_s& get_rx_status() { return _rstatus; }
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struct mavlink_logbuffer *get_logbuffer() { return &_logbuffer; }
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unsigned get_system_type() { return _system_type; }
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protected:
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Mavlink *next;
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private:
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int _instance_id;
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int _mavlink_fd;
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bool _task_running;
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/* states */
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bool _hil_enabled; /**< Hardware In the Loop mode */
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bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
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bool _forward_externalsp; /**< Forward external setpoint messages to controllers directly if in offboard mode */
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bool _is_usb_uart; /**< Port is USB */
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bool _wait_to_transmit; /**< Wait to transmit until received messages. */
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bool _received_messages; /**< Whether we've received valid mavlink messages. */
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unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */
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MavlinkOrbSubscription *_subscriptions;
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MavlinkStream *_streams;
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MavlinkMissionManager *_mission_manager;
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MavlinkParametersManager *_parameters_manager;
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MAVLINK_MODE _mode;
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mavlink_channel_t _channel;
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struct mavlink_logbuffer _logbuffer;
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unsigned int _total_counter;
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pthread_t _receive_thread;
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bool _verbose;
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bool _forwarding_on;
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bool _passing_on;
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bool _ftp_on;
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int _uart_fd;
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int _baudrate;
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int _datarate; ///< data rate for normal streams (attitude, position, etc.)
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int _datarate_events; ///< data rate for params, waypoints, text messages
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float _rate_mult;
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/**
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* If the queue index is not at 0, the queue sending
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* logic will send parameters from the current index
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* to len - 1, the end of the param list.
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*/
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unsigned int _mavlink_param_queue_index;
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bool mavlink_link_termination_allowed;
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char *_subscribe_to_stream;
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float _subscribe_to_stream_rate;
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bool _flow_control_enabled;
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uint64_t _last_write_success_time;
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uint64_t _last_write_try_time;
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unsigned _bytes_tx;
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unsigned _bytes_txerr;
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unsigned _bytes_rx;
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uint64_t _bytes_timestamp;
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float _rate_tx;
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float _rate_txerr;
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float _rate_rx;
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struct telemetry_status_s _rstatus; ///< receive status
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struct mavlink_message_buffer {
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int write_ptr;
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int read_ptr;
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int size;
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char *data;
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};
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mavlink_message_buffer _message_buffer;
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pthread_mutex_t _message_buffer_mutex;
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pthread_mutex_t _send_mutex;
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bool _param_initialized;
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param_t _param_system_id;
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param_t _param_component_id;
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param_t _param_system_type;
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param_t _param_use_hil_gps;
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param_t _param_forward_externalsp;
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unsigned _system_type;
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perf_counter_t _loop_perf; /**< loop performance counter */
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perf_counter_t _txerr_perf; /**< TX error counter */
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void mavlink_update_system();
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int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
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static unsigned int interval_from_rate(float rate);
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int configure_stream(const char *stream_name, const float rate);
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/**
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* Adjust the stream rates based on the current rate
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*
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* @param multiplier if greater than 1, the transmission rate will increase, if smaller than one decrease
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*/
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void adjust_stream_rates(const float multiplier);
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int message_buffer_init(int size);
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void message_buffer_destroy();
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int message_buffer_count();
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int message_buffer_is_empty();
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int message_buffer_get_ptr(void **ptr, bool *is_part);
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void message_buffer_mark_read(int n);
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void pass_message(const mavlink_message_t *msg);
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/**
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* Update rate mult so total bitrate will be equal to _datarate.
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*/
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void update_rate_mult();
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static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
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/**
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* Main mavlink task.
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*/
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int task_main(int argc, char *argv[]);
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/* do not allow copying this class */
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Mavlink(const Mavlink&);
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Mavlink operator=(const Mavlink&);
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};
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=======
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#ifdef __PX4_NUTTX
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#include "mavlink_main_nuttx.h"
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#else
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#include "mavlink_main_linux.h"
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#endif
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>>>>>>> Support for building more modules with Linux
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@@ -244,7 +244,8 @@ Mavlink::~Mavlink()
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} while (_task_running);
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}
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LL_DELETE(_mavlink_instances, this);
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if (_mavlink_instances)
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LL_DELETE(_mavlink_instances, this);
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}
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void
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