dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Implemented flush for Serial UART API

This commit is contained in:
Eric Katzfey 2024-03-07 10:27:56 -08:00
parent e02c01bd21
commit 3ab3fe2ee7
9 changed files with 58 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
platforms/common/Serial.cpp
View File

@ -80,6 +80,11 @@ ssize_t Serial::write(const void *buffer, size_t buffer_size)
return _impl.write(buffer, buffer_size);
}
void Serial::flush()
{
return _impl.flush();
}
uint32_t Serial::getBaudrate() const
{
return _impl.getBaudrate();

2
platforms/common/include/px4_platform_common/Serial.hpp
View File

@ -64,6 +64,8 @@ public:
ssize_t write(const void *buffer, size_t buffer_size);
void flush();
// If port is already open then the following configuration functions
// will reconfigure the port. If the port is not yet open then they will
// simply store the configuration in preparation for the port to be opened.

7
platforms/nuttx/src/px4/common/SerialImpl.cpp
View File

@ -319,6 +319,13 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
return written;
}
void SerialImpl::flush()
{
if (_open) {
tcflush(_serial_fd, TCIOFLUSH);
}
}
const char *SerialImpl::getPort() const
{
return _port;

2
platforms/nuttx/src/px4/common/include/SerialImpl.hpp
View File

@ -64,6 +64,8 @@ public:
ssize_t write(const void *buffer, size_t buffer_size);
void flush();
const char *getPort() const;
uint32_t getBaudrate() const;

2
platforms/posix/include/SerialImpl.hpp
View File

@ -64,6 +64,8 @@ public:
ssize_t write(const void *buffer, size_t buffer_size);
void flush();
const char *getPort() const;
uint32_t getBaudrate() const;

7
platforms/posix/src/px4/common/SerialImpl.cpp
View File

@ -312,6 +312,13 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
return written;
}
void SerialImpl::flush()
{
if (_open) {
tcflush(_serial_fd, TCIOFLUSH);
}
}
const char *SerialImpl::getPort() const
{
return _port;

2
platforms/qurt/include/SerialImpl.hpp
View File

@ -63,6 +63,8 @@ public:
ssize_t write(const void *buffer, size_t buffer_size);
void flush();
const char *getPort() const;
bool setPort(const char *port);

9
platforms/qurt/src/px4/SerialImpl.cpp
View File

@ -251,6 +251,15 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
return ret_write;
}
void SerialImpl::flush()
{
if (_open) {
uint8_t buffer[4];
// A read clears out all current data
read(buffer, 4);
}
}
const char *SerialImpl::getPort() const
{
return _port;

42
src/drivers/rc/crsf_rc/CrsfRc.cpp
View File

@ -116,11 +116,13 @@ void CrsfRc::Run()
{
if (should_exit()) {
ScheduleClear();
if (_uart) {
(void) _uart->close();
delete _uart;
_uart = nullptr;
}
exit_and_cleanup();
return;
}
@ -152,26 +154,26 @@ void CrsfRc::Run()
return;
}
// if (board_rc_swap_rxtx(_device)) {
// #if defined(TIOCSSWAP)
// ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
// #endif // TIOCSSWAP
// }
//
// if (board_rc_singlewire(_device)) {
// _is_singlewire = true;
// #if defined(TIOCSSINGLEWIRE)
// ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
// #endif // TIOCSSINGLEWIRE
// }
//
// PX4_INFO("Crsf serial opened sucessfully");
//
// if (_is_singlewire) {
// PX4_INFO("Crsf serial is single wire. Telemetry disabled");
// }
//
// tcflush(_rc_fd, TCIOFLUSH);
if (board_rc_swap_rxtx(_device)) {
#if defined(TIOCSSWAP)
ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
#endif // TIOCSSWAP
}
if (board_rc_singlewire(_device)) {
_is_singlewire = true;
#if defined(TIOCSSINGLEWIRE)
ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
#endif // TIOCSSINGLEWIRE
}
PX4_INFO("Crsf serial opened sucessfully");
if (_is_singlewire) {
PX4_INFO("Crsf serial is single wire. Telemetry disabled");
}
_uart->flush();
Crc8Init(0xd5);