/*
?*?read_uart_sensor.c
?*?
?*?read?sensor?through?uart
?*/

#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
//?#include?
#include?
#include?nk_log.h>
#include?

#include?


__EXPORT?int?read_uart_sensor_main（int?argc?char?*argv[]）;


static?bool?thread_should_exit?=?false;?/*Ddemon?exit?flag*/
static?bool?thread_running?=?false;??/*Daemon?status?flag*/
static?int?daemon_task;
struct?uart_pos_s?uart_data;
orb_advert_t?mavlink_uart_pub?;
orb_advert_t?uart_pub;
/**
?*?Main?loop
?*/
int?read_uart_thread_main（int?argc?char?*argv[]）;
int?read_uart（char?data）;

static?int?uart_init（const?char?*?uart_name）;
static?int?set_uart_baudrate（const?int?fd?unsigned?int?baud）;
static?void?usage（const?char?*reason）;

int?set_uart_baudrate（const?int?fd?unsigned?int?baud）
{
????int?speed;

????switch?（baud）?{
????????case?9600:???speed?=?B9600;???break;
????????case?19200:??speed?=?B19200;??break;
????????case?38400:??speed?=?B38400;??break;
????????case?57600:??speed?=?B57600;??break;
????????case?115200:?speed?=?B115200;?break;
????????default:
????????????warnx（“ERR:?baudrate:?%d\n“?baud）;
????????????return?-EINVAL;
????}

????struct?termios?uart_config;

????int?termios_state;

????/*?fill?the?struct?for?the?new?configuration?*/
????tcgetattr（fd?&uart_config）;
????/*?clear?ONLCR?flag?（which?appends?a?CR?for?every?LF）?*/
????uart_config.c_oflag?&=?~ONLCR;
????/*?no?parity?one?stop?bit?*/
????uart_config.c_cflag?&=?~（CSTOPB?|?PARENB）;
????/*?set?baud?rate?*/
????if?（（termios_state?=?cfsetispeed（&uart_config?speed））?????????warnx（“ERR:?%d?（cfsetispeed）\n“?termios_state）;
????????return?false;
????}

????if?（（termios_state?=?cfsetospeed（&uart_config?speed））?????????warnx（“ERR:?%d?（cfsetospeed）\n“?termios_state）;
????????return?false;
????}

????if?（（termios_state?=?tcsetattr（fd?TCSANOW?&uart_config））?????????warnx（“ERR:?%d?（tcsetattr）\n“?termios_state）;
????????return?false;
????}

????return?true;
}


int?uart_init（const?char?*?uart_name）
{
????int?serial_fd?=?open（uart_name?O_RDWR?|?O_NOCTTY）;

????if?（serial_fd?????????err（1?“failed?to?open?port:?%s“?uart_name）;
????????return?false;
????}
????return?serial_fd;
}

static?void?usage（const?char?*reason）
{
????if?（reason）?{
????????fprintf（stderr?“%s\n“?reason）;
????}

????fprintf（stderr?“usage:?read_uart_sensor?{start|stop|status}?[param]\n\n“）;
????exit（1）;
}

int?read_uart_sensor_main（int?argc?char?*argv[]）
{
????if?（argc?????????usage（“missing?command“）;
????}

????if?（!strcmp（argv[1]?“start“））?{
????????if?（thread_running）?{
????????????warnx（“already?running\n“）;
????????????return?0;
????????}

????????thread_should_exit?=?false;
??????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-03-19?11:57??uart\
?????文件????????3493??2018-03-19?11:22??uart\nuttx_px4fmu-v2_default.cmake
?????文件?????????276??2018-03-19?11:15??uart\uart_pos.msg
?????目錄???????????0??2018-03-19?11:21??uart\read_uart\
?????文件????????1920??2018-03-19?11:21??uart\read_uart\CMakeLists.txt
?????文件????????5657??2018-03-19?11:45??uart\read_uart\read_uart.c