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Lunchtime HOTFIX: Bring back USB console to operational, allow single-USB connection operation via QGC

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This commit is contained in:
Lorenz Meier
2013-07-18 13:16:34 +02:00
parent 0cd8f2d35b
commit 8d1abf4aa4
7 changed files with 62 additions and 36 deletions
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src/modules/mavlink/mavlink.c
+22 -25
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@@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
case 921600: speed = B921600; break;
default:
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
return -EINVAL;
}
/* open uart */
printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
warnx("UART is %s, baudrate is %d\n", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@@ -433,37 +433,35 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
int termios_state;
*is_usb = false;
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
} else {
*is_usb = true;
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
return uart;
@@ -751,8 +749,7 @@ int mavlink_thread_main(int argc, char *argv[])
pthread_join(uorb_receive_thread, NULL);
/* Reset the UART flags to original state */
if (!usb_uart)
tcsetattr(uart, TCSANOW, &uart_config_original);
tcsetattr(uart, TCSANOW, &uart_config_original);
thread_running = false;