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Fixed formatting and made SPI a Linux only choice to GPS

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This commit is contained in:
Eric Katzfey
2023-07-20 10:39:30 -07:00
parent 96c05ac23a
commit 4c5e05de13
4 changed files with 61 additions and 39 deletions
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platforms/nuttx/src/px4/common/SerialImpl.cpp
+7 -3
View File
@@ -24,6 +24,7 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
@@ -37,7 +38,8 @@ SerialImpl::~SerialImpl()
}
}
bool SerialImpl::configure() {
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
@@ -72,6 +74,7 @@ bool SerialImpl::configure() {
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
@@ -148,7 +151,7 @@ bool SerialImpl::open()
// Configure the serial port if a baudrate has been configured
if (_baudrate) {
if ( ! configure()) {
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
@@ -220,7 +223,8 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
fds[0].events = POLLIN;
hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
if (remaining_time <= 0) break;
if (remaining_time <= 0) { break; }
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
platforms/posix/src/px4/common/SerialImpl.cpp
+7 -3
View File
@@ -22,6 +22,7 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
@@ -35,7 +36,8 @@ SerialImpl::~SerialImpl()
}
}
bool SerialImpl::configure() {
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
@@ -70,6 +72,7 @@ bool SerialImpl::configure() {
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
@@ -146,7 +149,7 @@ bool SerialImpl::open()
// Configure the serial port if a baudrate has been configured
if (_baudrate) {
if ( ! configure()) {
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
@@ -218,7 +221,8 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
fds[0].events = POLLIN;
hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
if (remaining_time <= 0) break;
if (remaining_time <= 0) { break; }
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
platforms/qurt/src/px4/SerialImpl.cpp
+8 -5
View File
@@ -19,12 +19,13 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
// Start off with a valid bitrate to make sure open can succeed
if (_baudrate == 0) _baudrate = 9600;
if (_baudrate == 0) { _baudrate = 9600; }
}
@@ -69,6 +70,7 @@ bool SerialImpl::open()
if (serial_fd < 0) {
PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd);
return false;
} else {
PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
}
@@ -104,7 +106,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
return -1;
}
int ret_read = qurt_uart_read(_serial_fd, (char*) buffer, buffer_size, 500);
int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
if (ret_read < 0) {
PX4_DEBUG("%s read error %d", _port, ret_read);
@@ -144,7 +146,7 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
return total_bytes_read;
}
}
int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
if (current_bytes_read < 0) {
@@ -169,8 +171,9 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
int64_t time_until_timeout = timeout_us - elapsed_us;
uint64_t time_to_sleep = 5000;
if ((time_until_timeout >= 0) &&
(time_until_timeout < (int64_t) time_to_sleep)) {
(time_until_timeout < (int64_t) time_to_sleep)) {
time_to_sleep = time_until_timeout;
}
@@ -187,7 +190,7 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
return -1;
}
int ret_write = qurt_uart_write(_serial_fd, (const char*) buffer, buffer_size);
int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
if (ret_write < 0) {
PX4_ERR("%s write error %d", _port, ret_write);