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frsky_telemetry: add a '-m <mode>' CLI param

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Can be used to avoid auto-detection.

Strangely on the Omnibus via UART4, the auto-detection for single-wire
S.Port did not work when connecting via battery (it works via USB) -
S.Port got detected instead.
Might be a board-specific issue.
This commit is contained in:
Beat Küng
2018-07-10 19:39:50 +02:00
committed by Lorenz Meier
parent 9386ab6afe
commit 93da0416fa
1 changed files with 28 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
+28 -4
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@@ -218,6 +218,8 @@ static void usage()
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS6", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 60, "Scanning timeout [s] (default: no timeout)", true);
PRINT_MODULE_USAGE_PARAM_STRING('m', "auto", "sport|sport_single|dtype", "Select protocol (default: auto-detect)",
true);
PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
}
@@ -229,12 +231,14 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
{
device_name = "/dev/ttyS6"; /* default USART8 */
unsigned scanning_timeout_ms = 0;
frsky_state = SCANNING;
frsky_state_t baudRate = DTYPE;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "d:t:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "d:t:m:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
device_name = myoptarg;
@@ -244,6 +248,24 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
scanning_timeout_ms = strtoul(myoptarg, nullptr, 10) * 1000;
break;
case 'm':
if (!strcmp(myoptarg, "sport")) {
frsky_state = baudRate = SPORT;
} else if (!strcmp(myoptarg, "sport_single")) {
frsky_state = baudRate = SPORT_SINGLE_WIRE;
} else if (!strcmp(myoptarg, "dtype")) {
frsky_state = baudRate = DTYPE;
} else if (!strcmp(myoptarg, "auto")) {
} else {
usage();
return -1;
}
break;
default:
usage();
return -1;
@@ -251,7 +273,7 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
}
}
/* Open UART assuming D type telemetry */
/* Open UART */
struct termios uart_config_original;
struct termios uart_config;
const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
@@ -270,8 +292,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
/* Main thread loop */
char sbuf[20];
frsky_state = SCANNING;
frsky_state_t baudRate = DTYPE;
const hrt_abstime start_time = hrt_absolute_time();
@@ -360,6 +380,9 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
}
if (frsky_state == SPORT || frsky_state == SPORT_SINGLE_WIRE) {
set_uart_speed(uart, &uart_config, B57600);
set_uart_single_wire(uart, frsky_state == SPORT_SINGLE_WIRE);
/* Subscribe to topics */
if (!sPort_init()) {
PX4_ERR("could not allocate memory");
@@ -607,6 +630,7 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
/* detected D type telemetry: reconfigure UART */
PX4_INFO("sending FrSky D type telemetry");
int status = set_uart_speed(uart, &uart_config, B9600);
set_uart_single_wire(uart, false);
if (status < 0) {
PX4_DEBUG("error setting speed for %s, quitting", device_name);