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frsky_telemetry: add scanning timeout parameter, and set it to 15s 

This frees unused RAM in case frsky telemetry is not connected.
This commit is contained in:
Beat Küng 2018-07-07 09:23:29 +02:00 committed by Lorenz Meier
parent f3292c7741
commit 58c8c50174
2 changed files with 15 additions and 2 deletions
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2
ROMFS/px4fmu_common/init.d/rcS
View File

@ -617,7 +617,7 @@ fi
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
then
# This is TELEM4 on Pixhawk 3 Pro
frsky_telemetry start -d /dev/ttyS6
frsky_telemetry start -d /dev/ttyS6 -t 15
fi
fi

15
src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
View File

@ -217,6 +217,7 @@ static void usage()
PRINT_MODULE_USAGE_NAME("frsky_telemetry", "communication");
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_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
}
@ -227,17 +228,22 @@ static void usage()
static int frsky_telemetry_thread_main(int argc, char *argv[])
{
device_name = "/dev/ttyS6"; /* default USART8 */
unsigned scanning_timeout_ms = 0;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "d:t:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
device_name = myoptarg;
break;
case 't':
scanning_timeout_ms = strtoul(myoptarg, nullptr, 10) * 1000;
break;
default:
usage();
return -1;
@ -267,6 +273,8 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
frsky_state = SCANNING;
frsky_state_t baudRate = DTYPE;
const hrt_abstime start_time = hrt_absolute_time();
while (!thread_should_exit && frsky_state == SCANNING) {
/* 2 byte polling frames indicate SmartPort telemetry
* 11 byte packets indicate D type telemetry
@ -344,6 +352,11 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
// flush buffer
read(uart, &sbuf[0], sizeof(sbuf));
// check for a timeout
if (scanning_timeout_ms > 0 && (hrt_absolute_time() - start_time) / 1000 > scanning_timeout_ms) {
PX4_INFO("Scanning timeout: exiting");
break;
}
}
if (frsky_state == SPORT || frsky_state == SPORT_SINGLE_WIRE) {