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[paparazzi-commits] [5755] beginnings of uart com.
From: |
Paul Cox |
Subject: |
[paparazzi-commits] [5755] beginnings of uart com. |
Date: |
Tue, 31 Aug 2010 08:04:28 +0000 |
Revision: 5755
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5755
Author: paulcox
Date: 2010-08-31 08:04:28 +0000 (Tue, 31 Aug 2010)
Log Message:
-----------
beginnings of uart com.
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/beth.xml
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c
Modified: paparazzi3/trunk/conf/airframes/Poine/beth.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-08-31 07:41:18 UTC
(rev 5754)
+++ paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-08-31 08:04:28 UTC
(rev 5755)
@@ -241,7 +241,32 @@
main_overo.CFLAGS += -DCONTROLLER_H=\"overo_controller.h\"
main_overo.srcs += $(SRC_BETH)/overo_controller.c
+#
+# overo uart test
+#
+USER =
+HOST = 192.168.0.16
+TARGET_DIR = ~
+SRC_FMS=fms
+
+overo_test_uart.ARCHDIR = omap
+overo_test_uart.CFLAGS = -I. -I$(SRC_FMS)
+overo_test_uart.srcs = $(SRC_BETH)/overo_test_uart.c
+
+overo_test_uart.CFLAGS += -DFMS_PERIODIC_FREQ=2
+overo_test_uart.srcs += $(SRC_FMS)/fms_periodic.c
+overo_test_uart.srcs += $(SRC_FMS)/fms_serial_port.c
+overo_test_uart.CFLAGS += -DUBX -DGPS -DGPS_LINK=ttyUSB0
+overo_test_uart.srcs += $(SRC_BETH)/gps_ubx.c
+overo_test_uart.LDFLAGS += -lrt
+overo_test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
+overo_test_uart.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
+overo_test_uart.srcs += $(SRC_FMS)/fms_network.c
+overo_test_uart.LDFLAGS += -levent -lm
+overo_test_uart.srcs += $(SRC_BETH)/overo_gcs_com.c
+
+
#
# Overo twisting
#
Added: paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c 2010-08-31 08:04:28 UTC
(rev 5755)
@@ -0,0 +1,118 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <signal.h>
+
+#include <event.h>
+
+#include "messages2.h"
+#include "airframe.h"
+
+#include "fms_periodic.h"
+#include "fms_debug.h"
+#include "fms_serial_port.h"
+
+#include "overo_gcs_com.h"
+
+struct OveroController {
+ int armed;
+} controller;
+
+static void main_periodic(int);
+static void main_exit(int sig);
+static void main_talk_with_tiny(void);
+
+static uint32_t foo = 0;
+struct FmsSerialPort* fmssp;
+int spfd;
+
+int main(int argc, char *argv[]) {
+
+ (void) signal(SIGINT, main_exit);
+
+ fmssp = serial_port_new();
+ //speed_t speed;
+
+ if (serial_port_open_raw(fmssp,"/dev/ttyUSB0",B9600)){
+ printf("error opening USB serial port!");
+ return -1;
+ }
+
+ spfd = (int)fmssp->fd;
+
+ /* Initalize the event library */
+ event_init();
+
+ gcs_com_init();
+
+ if (fms_periodic_init(main_periodic)) {
+ TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
+ return -1;
+ }
+
+ event_dispatch();
+ //should never occur!
+ printf("goodbye! (%d)\n",foo);
+
+ return 0;
+}
+
+static void main_periodic(int my_sig_num) {
+
+ RunOnceEvery(20, {DOWNLINK_SEND_ALIVE(gcs_com.udp_transport, 16, MD5SUM);
printf("\n");});
+
+ main_talk_with_tiny();
+
+ RunOnceEvery(2, gcs_com_periodic());
+
+}
+
+static void main_exit(int sig) {
+ printf("Initiating shutdown...\n");
+
+ printf("Application Exiting...\n");
+ exit(EXIT_SUCCESS);
+}
+
+static void main_talk_with_tiny() {
+ unsigned char c='D';
+ write(spfd,&c,1);
+ if (read(spfd,&c,1)>0) write(STDOUT_FILENO,&c,1);
+ //fprintf(spfd,"testing\n");
+ printf(".");
+ foo++;
+}
+
+int ttyUSB0Transmit(){
+
+}
+int ttyUSB0SendMessage(){
+
+}
+
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