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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 00:10:35 +08:00
Syslink Bridge to Mavlink (#5479)
This commit is contained in:
Dennis Shtatnov
committed by
Lorenz Meier
Lorenz Meier
parent
446f8e3a36
commit
52fdbf4acc
@@ -70,6 +70,7 @@ Syslink::Syslink() :
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_syslink_task(-1),
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_task_running(false),
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_fd(0),
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_writebuffer(16, sizeof(crtp_message_t)),
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_battery_pub(nullptr),
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_rc_pub(nullptr),
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_cmd_pub(nullptr),
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@@ -87,7 +88,7 @@ Syslink::start()
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"syslink",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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3600,
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1500,
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Syslink::task_main_trampoline,
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NULL
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);
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@@ -127,6 +128,27 @@ Syslink::set_address(uint64_t addr)
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}
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int count_out = 0;
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int
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Syslink::send_queued_raw_message()
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{
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if (_writebuffer.empty()) {
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return 0;
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}
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syslink_message_t msg;
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msg.type = SYSLINK_RADIO_RAW;
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count_out++;
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_writebuffer.get(&msg.length, sizeof(crtp_message_t));
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return send_message(&msg);
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}
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// 1M 8N1 serial connection to NRF51
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int
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Syslink::open_serial(const char *dev)
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@@ -154,7 +176,6 @@ Syslink::open_serial(const char *dev)
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config.c_oflag &= ~ONLCR;
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// Disable hardware flow control
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// TODO: CF2 uses a TX EN as output flow control
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config.c_cflag &= ~CRTSCTS;
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@@ -199,7 +220,8 @@ Syslink::task_main()
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param_get(_param_radio_addr1, &addr + 4);
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param_get(_param_radio_addr2, &addr);
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_bridge = new SyslinkBridge(this);
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_bridge->init();
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_battery.reset(&_battery_status);
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@@ -217,9 +239,12 @@ Syslink::task_main()
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/* Set non-blocking */
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/*
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int flags = fcntl(_fd, F_GETFL, 0);
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fcntl(_fd, F_SETFL, flags | O_NONBLOCK);
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*/
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px4_arch_configgpio(GPIO_NRF_TXEN);
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set_datarate(rate);
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usleep(1000);
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@@ -283,6 +308,8 @@ Syslink::task_main()
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static int count = 0;
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static int null_count = 0;
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static int count_in = 0;
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//static int count_out = 0;
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static hrt_abstime lasttime = 0;
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@@ -292,10 +319,12 @@ Syslink::handle_message(syslink_message_t *msg)
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hrt_abstime t = hrt_absolute_time();
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if (t - lasttime > 1000000) {
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PX4_INFO("%d packets per second (%d null)", count, null_count);
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PX4_INFO("%d p/s (%d null) (%d in / %d out raw)", count, null_count, count_in, count_out);
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lasttime = t;
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count = 0;
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null_count = 0;
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count_in = 0;
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count_out = 0;
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}
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count++;
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@@ -313,7 +342,7 @@ Syslink::handle_message(syslink_message_t *msg)
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float vbat;
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memcpy(&vbat, &msg->data[1], sizeof(float));
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_battery.updateBatteryStatus(t, vbat, 0, 0, false, &_battery_status);
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_battery.updateBatteryStatus(t, vbat, -1, 0, false, &_battery_status);
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// announce the battery status if needed, just publish else
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if (_battery_pub != nullptr) {
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@@ -335,6 +364,9 @@ Syslink::handle_message(syslink_message_t *msg)
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} else if (msg->type == SYSLINK_RADIO_RAW) {
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handle_raw(msg);
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} else {
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PX4_INFO("GOT %d", msg->type);
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}
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@@ -343,17 +375,14 @@ Syslink::handle_message(syslink_message_t *msg)
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void
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Syslink::handle_raw(syslink_message_t *sys)
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{
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// TODO: Now allow one raw message to be sent from the queue
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crtp_message_t *c = (crtp_message_t *) &sys->data;
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crtp_message_t *c = (crtp_message_t *) &sys->length;
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if (CRTP_NULL(*c)) {
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// TODO: Handle bootloader messages if possible
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null_count++;
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return;
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}
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if (c->port == CRTP_PORT_COMMANDER) {
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} else if (c->port == CRTP_PORT_COMMANDER) {
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crtp_commander *cmd = (crtp_commander *) &c->data[0];
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@@ -388,28 +417,136 @@ Syslink::handle_raw(syslink_message_t *sys)
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}
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} else if (c->port == CRTP_PORT_MAVLINK) {
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count_in++;
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/* Pipe to Mavlink bridge */
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_bridge->pipe_message(c);
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} else {
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handle_raw_other(sys);
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}
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// Allow one raw message to be sent from the queue
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send_queued_raw_message();
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}
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void
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Syslink::handle_raw_other(syslink_message_t *sys)
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{
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// This function doesn't actually do anything
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// It is just here to return null responses to most standard messages
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crtp_message_t *c = (crtp_message_t *) &sys->length;
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if (c->port == CRTP_PORT_LOG) {
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PX4_INFO("Log: %d %d", c->channel, c->data[0]);
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if (c->channel == 0) { // Table of Contents Access
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uint8_t cmd = c->data[0];
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if (cmd == 0) { // GET_ITEM
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//int id = c->data[1];
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memset(&c->data[2], 0, 3);
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c->data[2] = 1; // type
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c->size = 1 + 5;
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send_message(sys);
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} else if (cmd == 1) { // GET_INFO
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memset(&c->data[1], 0, 7);
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c->size = 1 + 8;
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send_message(sys);
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}
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} else if (c->channel == 1) { // Log control
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uint8_t cmd = c->data[0];
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PX4_INFO("Responding to cmd: %d", cmd);
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c->data[2] = 0; // Success
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c->size = 3 + 1;
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// resend message
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send_message(sys);
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} else if (c->channel == 2) { // Log data
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}
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} else if (c->port == CRTP_PORT_MEM) {
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if (c->channel == 0) { // Info
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int cmd = c->data[0];
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if (cmd == 1) { // GET_NBR_OF_MEMS
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c->data[1] = 0;
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c->size = 2 + 1;
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// resend message
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send_message(sys);
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}
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}
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} else if (c->port == CRTP_PORT_PARAM) {
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if (c->channel == 0) { // TOC Access
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// uint8_t msgId = c->data[0];
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c->data[1] = 0; // Last parameter (id = 0)
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memset(&c->data[2], 0, 10);
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c->size = 1 + 8;
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send_message(sys);
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}
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else if (c->channel == 1) { // Param read
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// 0 is ok
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c->data[1] = 0; // value
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c->size = 1 + 3;
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send_message(sys);
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}
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} else {
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PX4_INFO("Got raw: %d", c->port);
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}
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}
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int
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Syslink::send_bytes(const void *data, size_t len)
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{
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// TODO: This could be way more efficient
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// Using interrupts/DMA/polling would be much better
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for (int i = 0; i < len; i++) {
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// Block until we can send a byte
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while (px4_arch_gpioread(GPIO_NRF_TXEN)) ;
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write(_fd, ((const char *)data) + i, 1);
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}
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return 0;
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}
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int
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Syslink::send_message(syslink_message_t *msg)
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{
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syslink_compute_cksum(msg);
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write(_fd, syslink_magic, 2);
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write(_fd, &msg->type, sizeof(msg->type));
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write(_fd, &msg->length, sizeof(msg->length));
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write(_fd, &msg->data, msg->length);
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write(_fd, &msg->cksum, sizeof(msg->cksum));
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send_bytes(syslink_magic, 2);
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send_bytes(&msg->type, sizeof(msg->type));
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send_bytes(&msg->length, sizeof(msg->length));
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send_bytes(&msg->data, msg->length);
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send_bytes(&msg->cksum, sizeof(msg->cksum));
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return 0;
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}
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int syslink_main(int argc, char *argv[])
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{
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PX4_INFO("Starting daemon...");
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g_syslink = new Syslink();
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g_syslink->start();
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// Wait for task and bridge to start
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usleep(5000);
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PX4_INFO("Started syslink on /dev/ttyS2");
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return 0;
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}
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