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fix to set device for ardrone interface

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This commit is contained in:
Julian Oes
2012-09-24 17:47:06 +02:00
parent eaa6d0d4f2
commit b5ec9c50f2
1 changed files with 20 additions and 6 deletions
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apps/ardrone_interface/ardrone_interface.c
+20 -6
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@@ -49,6 +49,7 @@
#include <debug.h> #include <debug.h>
#include <termios.h> #include <termios.h>
#include <time.h> #include <time.h>
#include <systemlib/err.h>
#include <sys/prctl.h> #include <sys/prctl.h>
#include <arch/board/up_hrt.h> #include <arch/board/up_hrt.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
@@ -73,7 +74,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]);
/** /**
* Open the UART connected to the motor controllers * Open the UART connected to the motor controllers
*/ */
static int ardrone_open_uart(struct termios *uart_config_original); static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original);
/** /**
* Print the correct usage. * Print the correct usage.
@@ -133,15 +134,15 @@ int ardrone_interface_main(int argc, char *argv[])
exit(1); exit(1);
} }
static int ardrone_open_uart(struct termios *uart_config_original) static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original)
{ {
/* baud rate */ /* baud rate */
int speed = B115200; int speed = B115200;
int uart; int uart;
const char* uart_name = "/dev/ttyS1";
/* open uart */ /* open uart */
printf("[ardrone_interface] UART is /dev/ttyS1, baud rate is 115200\n"); printf("[ardrone_interface] UART is %s, baud rate is%d\n",uart_name,speed);
uart = open(uart_name, O_RDWR | O_NOCTTY); uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */ /* Try to set baud rate */
@@ -182,6 +183,8 @@ int ardrone_interface_thread_main(int argc, char *argv[])
{ {
thread_running = true; thread_running = true;
char *device = "/dev/ttyS1";
/* welcome user */ /* welcome user */
printf("[ardrone_interface] Control started, taking over motors\n"); printf("[ardrone_interface] Control started, taking over motors\n");
@@ -205,9 +208,20 @@ int ardrone_interface_thread_main(int argc, char *argv[])
if (motor > 0 && motor < 5) { if (motor > 0 && motor < 5) {
test_motor = motor; test_motor = motor;
} else { } else {
thread_running = false;
errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage); errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage);
} }
} else { } else {
thread_running = false;
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
}
}
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
if (argc > i + 1) {
device = argv[i + 1];
} else {
thread_running = false;
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage); errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
} }
} }
@@ -240,7 +254,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
fflush(stdout); fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original); ardrone_write = ardrone_open_uart(device, &uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init(); gpios = ar_multiplexing_init();
@@ -270,7 +284,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
//ar_multiplexing_deinit(gpios); //ar_multiplexing_deinit(gpios);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original); ardrone_write = ardrone_open_uart(device, &uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init(); gpios = ar_multiplexing_init();