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SBUS on Linux: replace termios with termios2 and add UNKNOWN UART WQ

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SalimTerryLi 2020-02-03 03:06:27 +08:00 committed by GitHub
parent c8a58c5c9d
commit e0abe7090e
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 45 additions and 59 deletions
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1
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
View File

@ -79,6 +79,7 @@ static constexpr wq_config_t UART5{"wq:UART5", 1400, -21};
static constexpr wq_config_t UART6{"wq:UART6", 1400, -22};
static constexpr wq_config_t UART7{"wq:UART7", 1400, -23};
static constexpr wq_config_t UART8{"wq:UART8", 1400, -24};
static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1400, -25};
static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};

4
platforms/common/px4_work_queue/WorkQueueManager.cpp
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@ -196,9 +196,9 @@ serial_port_to_wq(const char *serial)
return wq_configurations::UART8;
}
PX4_ERR("unknown serial port: %s", serial);
PX4_DEBUG("unknown serial port: %s", serial);
return wq_configurations::hp_default;
return wq_configurations::UART_UNKNOWN;
}
static void *

99
src/lib/rc/sbus.cpp
View File

@ -41,7 +41,6 @@
#include <fcntl.h>
#include <unistd.h>
#include <termios.h>
#include <string.h>
#ifdef TIOCSSINGLEWIRE
@ -58,7 +57,9 @@ using namespace time_literals;
#if defined(__PX4_LINUX)
#include <sys/ioctl.h>
#include <linux/serial_core.h>
#include <asm-generic/termbits.h>
#else
#include <termios.h>
#endif
#define SBUS_START_SYMBOL 0x0f
@ -152,57 +153,41 @@ sbus_init(const char *device, bool singlewire)
int
sbus_config(int sbus_fd, bool singlewire)
{
#if defined(__PX4_LINUX)
struct termios options;
if (tcgetattr(sbus_fd, &options) != 0) {
return -1;
}
tcflush(sbus_fd, TCIFLUSH);
bzero(&options, sizeof(options));
options.c_cflag |= (CLOCAL | CREAD);
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
options.c_cflag |= PARENB;
options.c_cflag &= ~PARODD;
options.c_iflag |= INPCK;
options.c_cflag |= CSTOPB;
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
cfsetispeed(&options, B38400);
cfsetospeed(&options, B38400);
tcflush(sbus_fd, TCIFLUSH);
if ((tcsetattr(sbus_fd, TCSANOW, &options)) != 0) {
return -1;
}
int baud = 100000;
struct serial_struct serials;
if ((ioctl(sbus_fd, TIOCGSERIAL, &serials)) < 0) {
return -1;
}
serials.flags = ASYNC_SPD_CUST;
serials.custom_divisor = serials.baud_base / baud;
if ((ioctl(sbus_fd, TIOCSSERIAL, &serials)) < 0) {
return -1;
}
ioctl(sbus_fd, TIOCGSERIAL, &serials);
tcflush(sbus_fd, TCIFLUSH);
return 0;
#else
int ret = -1;
#if defined(__PX4_LINUX)
struct termios2 tio = {};
if (0 != ioctl(sbus_fd, TCGETS2, &tio)) {
return ret;
}
/**
* Setting serial port,8E2, non-blocking.100Kbps
*/
tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL
| IXON);
tio.c_iflag |= (INPCK | IGNPAR);
tio.c_oflag &= ~OPOST;
tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
/**
* use BOTHER to specify speed directly in c_[io]speed member
*/
tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
tio.c_ispeed = 100000;
tio.c_ospeed = 100000;
tio.c_cc[VMIN] = 25;
tio.c_cc[VTIME] = 0;
if (0 != ioctl(sbus_fd, TCSETS2, &tio)) {
return ret;
}
ret = 0;
#else
if (sbus_fd >= 0) {
struct termios t;
@ -221,16 +206,16 @@ sbus_config(int sbus_fd, bool singlewire)
#endif
}
/* initialise the decoder */
partial_frame_count = 0;
last_rx_time = hrt_absolute_time();
sbus_frame_drops = 0;
ret = 0;
}
return ret;
#endif
/* initialise the decoder */
partial_frame_count = 0;
last_rx_time = hrt_absolute_time();
sbus_frame_drops = 0;
return ret;
}
void