fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 06:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink USB auto start/stop on boards with VBUS

Browse Source 
- no longer start sercon or mavlink usb by default
 - on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
 - the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
 - skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
This commit is contained in:
Daniel Agar
2021-10-03 15:32:54 -04:00
committed by GitHub
parent 07e307b074
commit 6d78054f50
46 changed files with 447 additions and 453 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/systemcmds/nshterm/nshterm.c
+6 -55
View File
@@ -50,11 +50,8 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/actuator_armed.h>
__EXPORT int nshterm_main(int argc, char *argv[]);
static void print_usage(void)
{
PRINT_MODULE_DESCRIPTION("Start an NSH shell on a given port.\n"
@@ -67,63 +64,15 @@ static void print_usage(void)
PRINT_MODULE_USAGE_ARG("<file:dev>", "Device on which to start the shell (eg. /dev/ttyACM0)", false);
}
int
nshterm_main(int argc, char *argv[])
int nshterm_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
return 1;
}
unsigned retries = 0;
int fd = -1;
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* back off 1800 ms to avoid running into the USB setup timing */
while (hrt_absolute_time() < 1800U * 1000U) {
usleep(50000);
}
/* try to bring up the console - stop doing so if the system gets armed */
while (true) {
/* abort if an arming topic is published and system is armed */
bool updated = false;
orb_check(armed_fd, &updated);
if (updated) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) {
/* this is not an error, but we are done */
return 0;
}
}
/* the retries are to cope with the behaviour of /dev/ttyACM0 */
/* which may not be ready immediately. */
fd = open(argv[1], O_RDWR);
if (fd != -1) {
close(armed_fd);
break;
}
usleep(100000);
retries++;
}
if (fd == -1) {
perror(argv[1]);
return 1;
}
/* set up the serial port with output processing */
int fd = open(argv[1], O_RDWR);
/* Try to set baud rate */
struct termios uart_config;
@@ -131,7 +80,7 @@ nshterm_main(int argc, char *argv[])
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
warnx("ERR get config %s: %d\n", argv[1], termios_state);
PX4_ERR("get config %s: %d\n", argv[1], termios_state);
close(fd);
return -1;
}
@@ -140,7 +89,7 @@ nshterm_main(int argc, char *argv[])
uart_config.c_oflag |= (ONLCR | OPOST);
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR set config %s\n", argv[1]);
PX4_ERR("set config %s\n", argv[1]);
close(fd);
return -1;
}
@@ -157,5 +106,7 @@ nshterm_main(int argc, char *argv[])
close(fd);
PX4_INFO("exiting");
return 0;
}