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Checkpoint; messages from FMU now make it to IO intact; fix HRT init timing, process more bytes from the serial port, add some simple packet counting.

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This commit is contained in:
px4dev
2012-11-03 01:14:25 -07:00
parent b0da90b6db
commit 487597b385
6 changed files with 28 additions and 21 deletions
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apps/px4io/comms.c
+17 -12
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@@ -106,27 +106,29 @@ comms_check(void)
* Check for bytes and feed them to the RX engine.
* Limit the number of bytes we actually process on any one iteration.
*/
struct pollfd fds[1];
fds[0].fd = fmu_fd;
fds[0].revents = POLLIN;
if (poll(fds, 1, 0) > 0) {
char buf[8];
ssize_t count = read(fmu_fd, buf, sizeof(buf));
for (int i = 0; i < count; i++)
hx_stream_rx(stream, buf[i]);
}
char buf[32];
ssize_t count = read(fmu_fd, buf, sizeof(buf));
for (int i = 0; i < count; i++)
hx_stream_rx(stream, buf[i]);
}
int frame_rx;
int frame_bad;
static void
comms_handle_frame(void *arg, const void *buffer, size_t length)
{
struct px4io_command *cmd;
struct px4io_command *cmd = (struct px4io_command *)buffer;
/* make sure it's what we are expecting */
if (length != sizeof(struct px4io_command))
if ((length != sizeof(struct px4io_command)) ||
(cmd->f2i_magic != F2I_MAGIC)) {
frame_bad++;
return;
}
frame_rx++;
cmd = (struct px4io_command *)buffer;
irqstate_t flags = irqsave();
/* fetch new PWM output values */
for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++)
@@ -143,4 +145,7 @@ comms_handle_frame(void *arg, const void *buffer, size_t length)
/* XXX do relay changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
system_state.relays[i] = cmd->relay_state[i];
out:
irqrestore(flags);
}