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

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This commit is contained in:
SalimTerryLi
2020-08-26 08:40:55 +02:00
committed by GitHub
parent 60a7f7f9f2
commit 407ca0a5d3
2 changed files with 18 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+16 -16
View File
@@ -496,7 +496,7 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
} }
int 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 #ifndef B460800
#define B460800 460800 #define B460800 460800
@@ -673,13 +673,8 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
return -1; return -1;
} }
/* /* setup hardware flow control */
* Setup hardware flow control. If the port has no RTS pin this call will fail, if (setup_flow_control(flow_control) && (flow_control != FLOW_CONTROL_AUTO)) {
* 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)) {
PX4_WARN("hardware flow control not supported"); 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 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 // We can't do this on USB - skip
if (_is_usb_uart) { if (_is_usb_uart) {
@@ -699,7 +694,7 @@ Mavlink::enable_flow_control(enum FLOW_CONTROL_MODE mode)
int ret = tcgetattr(_uart_fd, &uart_config); int ret = tcgetattr(_uart_fd, &uart_config);
if (mode) { if (mode != FLOW_CONTROL_OFF) {
uart_config.c_cflag |= CRTSCTS; uart_config.c_cflag |= CRTSCTS;
} else { } else {
@@ -781,7 +776,7 @@ Mavlink::get_free_tx_buf()
hrt_elapsed_time(&_last_write_success_time) > 500_ms && hrt_elapsed_time(&_last_write_success_time) > 500_ms &&
_last_write_success_time != _last_write_try_time) { _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; _baudrate = 57600;
_datarate = 0; _datarate = 0;
_mode = MAVLINK_MODE_COUNT; _mode = MAVLINK_MODE_COUNT;
bool _force_flow_control = false; FLOW_CONTROL_MODE _flow_control = FLOW_CONTROL_AUTO;
_interface_name = nullptr; _interface_name = nullptr;
@@ -1851,7 +1846,7 @@ Mavlink::task_main(int argc, char *argv[])
int temp_int_arg; int temp_int_arg;
#endif #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) { switch (ch) {
case 'b': case 'b':
if (px4_get_parameter_value(myoptarg, _baudrate) != 0) { if (px4_get_parameter_value(myoptarg, _baudrate) != 0) {
@@ -2045,7 +2040,11 @@ Mavlink::task_main(int argc, char *argv[])
break; break;
case 'z': case 'z':
_force_flow_control = true; _flow_control = FLOW_CONTROL_ON;
break;
case 'Z':
_flow_control = FLOW_CONTROL_OFF;
break; break;
default: default:
@@ -2194,7 +2193,7 @@ Mavlink::task_main(int argc, char *argv[])
/* open the UART device after setting the instance, as it might block */ /* open the UART device after setting the instance, as it might block */
if (get_protocol() == Protocol::SERIAL) { 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) { if (_uart_fd < 0 && !_is_usb_uart) {
PX4_ERR("could not open %s", _device_name); 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('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('w', "Wait to send, until first message received", true);
PRINT_MODULE_USAGE_PARAM_FLAG('x', "Enable FTP", 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"); PRINT_MODULE_USAGE_COMMAND_DESCR("stop-all", "Stop all instances");
src/modules/mavlink/mavlink_main.h
+2 -2
View File
@@ -344,7 +344,7 @@ public:
* *
* @param enabled True if hardware flow control should be enabled * @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; } mavlink_channel_t get_channel() const { return _channel; }
@@ -679,7 +679,7 @@ private:
int mavlink_open_uart(const int baudrate = DEFAULT_BAUD_RATE, int mavlink_open_uart(const int baudrate = DEFAULT_BAUD_RATE,
const char *uart_name = DEFAULT_DEVICE_NAME, 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_CRITICAL_LOW_PERCENTAGE = 25;
static constexpr unsigned RADIO_BUFFER_LOW_PERCENTAGE = 35; static constexpr unsigned RADIO_BUFFER_LOW_PERCENTAGE = 35;