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mavlink command: new option to completely disable hardware flow control (-Z) (#15566)

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SalimTerryLi 2020-08-26 14:40:55 +08:00 committed by GitHub
parent 60a7f7f9f2
commit 407ca0a5d3
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 18 additions and 18 deletions
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32
src/modules/mavlink/mavlink_main.cpp
View File

@ -496,7 +496,7 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
}
int
Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool force_flow_control)
Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const FLOW_CONTROL_MODE flow_control)
{
#ifndef B460800
#define B460800 460800
@ -673,13 +673,8 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
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.
*/
/* setup output flow control */
if (enable_flow_control(force_flow_control ? FLOW_CONTROL_ON : FLOW_CONTROL_AUTO)) {
/* setup hardware flow control */
if (setup_flow_control(flow_control) && (flow_control != FLOW_CONTROL_AUTO)) {
PX4_WARN("hardware flow control not supported");
}
@ -687,7 +682,7 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
}
int
Mavlink::enable_flow_control(enum FLOW_CONTROL_MODE mode)
Mavlink::setup_flow_control(enum FLOW_CONTROL_MODE mode)
{
// We can't do this on USB - skip
if (_is_usb_uart) {
@ -699,7 +694,7 @@ Mavlink::enable_flow_control(enum FLOW_CONTROL_MODE mode)
int ret = tcgetattr(_uart_fd, &uart_config);
if (mode) {
if (mode != FLOW_CONTROL_OFF) {
uart_config.c_cflag |= CRTSCTS;
} else {
@ -781,7 +776,7 @@ Mavlink::get_free_tx_buf()
hrt_elapsed_time(&_last_write_success_time) > 500_ms &&
_last_write_success_time != _last_write_try_time) {
enable_flow_control(FLOW_CONTROL_OFF);
setup_flow_control(FLOW_CONTROL_OFF);
}
}
}
@ -1826,7 +1821,7 @@ Mavlink::task_main(int argc, char *argv[])
_baudrate = 57600;
_datarate = 0;
_mode = MAVLINK_MODE_COUNT;
bool _force_flow_control = false;
FLOW_CONTROL_MODE _flow_control = FLOW_CONTROL_AUTO;
_interface_name = nullptr;
@ -1851,7 +1846,7 @@ Mavlink::task_main(int argc, char *argv[])
int temp_int_arg;
#endif
while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxz", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZ", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
if (px4_get_parameter_value(myoptarg, _baudrate) != 0) {
@ -2045,7 +2040,11 @@ Mavlink::task_main(int argc, char *argv[])
break;
case 'z':
_force_flow_control = true;
_flow_control = FLOW_CONTROL_ON;
break;
case 'Z':
_flow_control = FLOW_CONTROL_OFF;
break;
default:
@ -2194,7 +2193,7 @@ Mavlink::task_main(int argc, char *argv[])
/* open the UART device after setting the instance, as it might block */
if (get_protocol() == Protocol::SERIAL) {
_uart_fd = mavlink_open_uart(_baudrate, _device_name, _force_flow_control);
_uart_fd = mavlink_open_uart(_baudrate, _device_name, _flow_control);
if (_uart_fd < 0 && !_is_usb_uart) {
PX4_ERR("could not open %s", _device_name);
@ -3070,7 +3069,8 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Enable message forwarding to other Mavlink instances", true);
PRINT_MODULE_USAGE_PARAM_FLAG('w', "Wait to send, until first message received", true);
PRINT_MODULE_USAGE_PARAM_FLAG('x', "Enable FTP", true);
PRINT_MODULE_USAGE_PARAM_FLAG('z', "Force flow control always on", true);
PRINT_MODULE_USAGE_PARAM_FLAG('z', "Force hardware flow control always on", true);
PRINT_MODULE_USAGE_PARAM_FLAG('Z', "Force hardware flow control always off", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stop-all", "Stop all instances");

4
src/modules/mavlink/mavlink_main.h
View File

@ -344,7 +344,7 @@ public:
*
* @param enabled True if hardware flow control should be enabled
*/
int enable_flow_control(enum FLOW_CONTROL_MODE enabled);
int setup_flow_control(enum FLOW_CONTROL_MODE enabled);
mavlink_channel_t get_channel() const { return _channel; }
@ -679,7 +679,7 @@ private:
int mavlink_open_uart(const int baudrate = DEFAULT_BAUD_RATE,
const char *uart_name = DEFAULT_DEVICE_NAME,
const bool force_flow_control = false);
const FLOW_CONTROL_MODE flow_control = FLOW_CONTROL_AUTO);
static constexpr unsigned RADIO_BUFFER_CRITICAL_LOW_PERCENTAGE = 25;
static constexpr unsigned RADIO_BUFFER_LOW_PERCENTAGE = 35;