mraa_uart_context uart_setup() {
mraa_uart_context uart0 = mraa_uart_init(0);
mraa_uart_set_baudrate(uart0, 9600);
mraa_uart_set_mode(uart0, 8, MRAA_UART_PARITY_NONE, 1);
return uart0;
}
int main(){
load_device_tree("ADAFRUIT-UART4");
mraa_uart_context bbb;
bbb = mraa_uart_init_raw("/dev/ttyO4");
mraa_uart_set_baudrate(bbb, 38400);
mraa_uart_set_mode(bbb, 8,MRAA_UART_PARITY_NONE , 1);
char buf[31] = "~4121|p123.324321|n053.989876$";
buf[30] = '\0';
while (1) {
mraa_uart_write(bbb, buf, 30);
usleep(10000);
}
return 0;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////// Modem related functions //////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int init_modem(){
mraa_init();
if( (uart = mraa_uart_init(0)) == NULL ){
writeToFile(src, "error INITIATING UART\n");
exit(UART_ERROR);
}
/*set uart boud rate [bps]*/
if ( mraa_uart_set_baudrate(uart, UART_BOUD_RATE)!=MRAA_SUCCESS) {
writeToFile(src, "error seting baudrate\n");
exit(UART_ERROR);
}
if ( mraa_uart_set_mode(uart, 8,MRAA_UART_PARITY_NONE , 1)!=MRAA_SUCCESS) {
writeToFile(src, "error seting mode\n");
}
mraa_uart_set_flowcontrol(uart, 0, 0);
writeToFile(src, "init modem\n");
}
/**
* Set the transfer mode
* For example setting the mode to 8N1 would be
* "dev.setMode(8,UART_PARITY_NONE , 1)"
*
* @param bytesize data bits
* @param parity Parity bit setting
* @param stopbits stop bits
* @return Result of operation
*/
Result
setMode(int bytesize, UartParity parity, int stopbits)
{
return (Result) mraa_uart_set_mode(m_uart, bytesize, (mraa_uart_parity_t) parity, stopbits);
}
/**
* n_direction_flag: 0 from edison to beaglebone
* 1 from beaglebone to edison
* check https://github.com/peidong/drone/blob/master/Edison/main/edison-bbb-communication-code.md for commands
*/
int communication_with_beaglebone_uart(int nflag_direction, struct T_drone *pT_drone, int nflag_receive_success){
/**
* check if uart available
*/
while (pT_drone->nflag_enable_uart != 1){
usleep(1300);
}
pT_drone->nflag_enable_uart = 0;
mraa_uart_context beaglebone_uart;
if (nflag_direction == 1){
/**
* From beaglebone to edison
*/
beaglebone_uart = mraa_uart_init_raw("/dev/ttyO4");
mraa_uart_set_baudrate(beaglebone_uart, 38400);
mraa_uart_set_mode(beaglebone_uart, 8, MRAA_UART_PARITY_NONE , 1);
while (mraa_uart_data_available(beaglebone_uart, 10000) != 1){
printf("data not available\n");
/*usleep(10000);*/
}
/**
* Start receive
*/
char c_flag[1];
char arrc_buffer[20];
int nflag_find_beginning = 0;
int nflag_find_end = 0;
int n_index = 0;
/**
* Read the message array
*/
while (nflag_find_beginning != 1){
mraa_uart_read(beaglebone_uart, c_flag, 1);
if (c_flag[0] == '~'){
nflag_find_beginning = 1;
n_index = 0;
while (nflag_find_end != 1){
mraa_uart_read(beaglebone_uart, arrc_buffer + n_index, 1);
if (arrc_buffer[n_index] == '$'){
arrc_buffer[n_index] = '\0';
nflag_find_end = 1;
//break;
}else if (arrc_buffer[n_index] == '~'){
nflag_find_end = -1;
nflag_find_beginning = 1;
n_index = 0;
//continue;
}else{
n_index++;
}
}
}
}
/**
* Process the message
*/
int n_command_index = -1;
if (arrc_buffer[0] == '0'){
/**
* stop
*/
n_command_index = 0;
printf("stop received\n");
}else if (arrc_buffer[0] == '1'){
/**
* auto control
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("auto control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '2'){
/**
* manual control command
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("manual control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '3'){
/**
* pid tuning
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("pid tuning received: %d\n", n_command_index);
char arrc_pid_value[9];
for (n_temp_index = 0; n_temp_index <= 7; n_temp_index++){
arrc_pid_value[n_temp_index] = arrc_buffer[n_temp_index + 3];
}
arrc_buffer[8] = '\0';
if (n_command_index == 301){
pT_drone->d_kp_pitch = atof(arrc_pid_value);
}else if (n_command_index == 302){
pT_drone->d_ki_pitch = atof(arrc_pid_value);
}else if (n_command_index == 303){
pT_drone->d_kd_pitch = atof(arrc_pid_value);
}else if (n_command_index == 304){
pT_drone->d_kp_roll = atof(arrc_pid_value);
}else if (n_command_index == 305){
pT_drone->d_ki_roll = atof(arrc_pid_value);
}else if (n_command_index == 306){
pT_drone->d_kd_roll = atof(arrc_pid_value);
}else if (n_command_index == 307){
pT_drone->d_kp_yaw = atof(arrc_pid_value);
}else if (n_command_index == 308){
pT_drone->d_kd_yaw = atof(arrc_pid_value);
}else if (n_command_index == 309){
pT_drone->d_ki_yaw = atof(arrc_pid_value);
}else if (n_command_index == 310){
pT_drone->d_kp_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 311){
pT_drone->d_kd_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 312){
pT_drone->d_kp_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 313){
pT_drone->d_kd_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 314){
pT_drone->d_kp_second_yaw = atof(arrc_pid_value);
}else if (n_command_index == 315){
pT_drone->d_kd_second_yaw = atof(arrc_pid_value);
}
printf("pid tuning value: %lf\n", atof(arrc_pid_value));
}else if (arrc_buffer[0] == '4'){
/**
* feedback
*/
printf("feedback received\n");
}
}else if (nflag_direction == 0){
/**
* From edison to beaglebone
*/
}
pT_drone->nflag_enable_uart = 1;
return 0;
}