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px4-firmware
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Clean up the FMU communications init.

This commit is contained in:
px4dev 2012-11-30 22:36:17 -08:00
parent 3e036e26c9
commit efd3b9dea6
3 changed files with 14 additions and 9 deletions
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12
apps/px4io/comms.c
View File

@ -47,6 +47,7 @@
#include <errno.h> #include <errno.h>
#include <string.h> #include <string.h>
#include <poll.h> #include <poll.h>
#include <termios.h>
#include <nuttx/clock.h> #include <nuttx/clock.h>
@ -69,7 +70,7 @@ static struct px4io_report report;
static void comms_handle_frame(void *arg, const void *buffer, size_t length); static void comms_handle_frame(void *arg, const void *buffer, size_t length);
void static void
comms_init(void) comms_init(void)
{ {
/* initialise the FMU interface */ /* initialise the FMU interface */
@ -78,11 +79,20 @@ comms_init(void)
/* default state in the report to FMU */ /* default state in the report to FMU */
report.i2f_magic = I2F_MAGIC; report.i2f_magic = I2F_MAGIC;
struct termios t;
/* 115200bps, no parity, one stop bit */
tcgetattr(fmu_fd, &t);
cfsetspeed(&t, 115200);
t.c_cflag &= ~(CSTOPB | PARENB);
tcsetattr(fmu_fd, TCSANOW, &t);
} }
void void
comms_main(void) comms_main(void)
{ {
comms_init();
struct pollfd fds; struct pollfd fds;
fds.fd = fmu_fd; fds.fd = fmu_fd;

10
apps/px4io/px4io.c
View File

@ -76,6 +76,9 @@ int user_start(int argc, char *argv[])
/* start the safety switch handler */ /* start the safety switch handler */
safety_init(); safety_init();
/* configure the first 8 PWM outputs (i.e. all of them) */
up_pwm_servo_init(0xff);
/* start the flight control signal handler */ /* start the flight control signal handler */
task_create("FCon", task_create("FCon",
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
@ -84,13 +87,6 @@ int user_start(int argc, char *argv[])
NULL); NULL);
/* initialise the FMU communications interface */
comms_init();
/* configure the first 8 PWM outputs (i.e. all of them) */
/* note, must do this after comms init to steal back PA0, which is CTS otherwise */
up_pwm_servo_init(0xff);
struct mallinfo minfo = mallinfo(); struct mallinfo minfo = mallinfo();
lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks); lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);

1
apps/px4io/px4io.h
View File

@ -157,7 +157,6 @@ extern void safety_init(void);
/* /*
* FMU communications * FMU communications
*/ */
extern void comms_init(void);
extern void comms_main(void) __attribute__((noreturn)); extern void comms_main(void) __attribute__((noreturn));
/* /*