The driver for the Rockblock 9602 and 9603 RockBlock module for satellite communication over the Iridium satellite system. More...

#include <IridiumSBD.h>

Inheritance diagram for IridiumSBD:

Collaboration diagram for IridiumSBD:

Public Member Functions
	IridiumSBD ()

int	ioctl (struct file *filp, int cmd, unsigned long arg)

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	init ()

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Static Public Member Functions
static int	start (int argc, char *argv[])

static int	stop ()

static void	status ()

static void	test (int argc, char *argv[])

Private Member Functions
void	main_loop (int argc, char *argv[])

void	standby_loop (void)

void	csq_loop (void)

void	sbdsession_loop (void)

void	test_loop (void)

void	start_csq (void)

void	start_sbd_session (void)

void	start_test (void)

ssize_t	write (struct file filp, const char buffer, size_t buflen)

ssize_t	read (struct file filp, char buffer, size_t buflen)

void	write_tx_buf ()

void	read_rx_buf ()

void	write_at (const char *command)

satcom_result_code	read_at_command (int16_t timeout=100)

satcom_result_code	read_at_msg (int16_t timeout=100)

satcom_result_code	read_at (uint8_t rx_buf, int rx_len, int16_t timeout=100)

void	schedule_test (void)

bool	clear_mo_buffer ()

satcom_uart_status	open_uart (char *uart_name)

bool	is_modem_ready (void)

pollevent_t	poll_state (struct file *filp)

void	publish_iridium_status (void)

void	publish_subsystem_status ()

virtual int	open_first (struct file *filep) override
	Notification of the first open of CDev. More...

virtual int	close_last (struct file *filep) override
	Notification of the last close of CDev. More...

Static Private Member Functions
static void	main_loop_helper (int argc, char *argv[])

Private Attributes
bool	_task_should_exit = false

bool	_start_completed = false

int	uart_fd = -1

int32_t	_param_read_interval_s = -1

int32_t	_param_session_timeout_s = -1

int32_t	_param_stacking_time_ms = -1

hrt_abstime	_last_signal_check = 0

uint8_t	_signal_quality = 0

uint16_t	_failed_sbd_sessions = 0

uint16_t	_successful_sbd_sessions = 0

uint16_t	_num_tx_buf_reset = 0

bool	_writing_mavlink_packet = false

uint16_t	_packet_length = 0

uORB::Publication< iridiumsbd_status_s >	_iridiumsbd_status_pub {ORB_ID(iridiumsbd_status)}

uORB::PublicationQueued< subsystem_info_s >	_subsystem_pub {ORB_ID(subsystem_info)}

bool	_test_pending = false

char	_test_command [32]

hrt_abstime	_test_timer = 0

uint8_t	_rx_command_buf [SATCOM_RX_COMMAND_BUF_LEN] = {}

int	_rx_command_len = 0

uint8_t	_rx_msg_buf [SATCOM_RX_MSG_BUF_LEN] = {}

int	_rx_msg_end_idx = 0

int	_rx_msg_read_idx = 0

uint8_t	_tx_buf [SATCOM_TX_BUF_LEN] = {}

int	_tx_buf_write_idx = 0

bool	_tx_buf_write_pending = false

bool	_ring_pending = false

bool	_rx_session_pending = false

bool	_rx_read_pending = false

bool	_tx_session_pending = false

bool	_cdev_used = false

hrt_abstime	_last_write_time = 0

hrt_abstime	_last_read_time = 0

hrt_abstime	_last_heartbeat = 0

hrt_abstime	_session_start_time = 0

satcom_state	_state = SATCOM_STATE_STANDBY

satcom_state	_new_state = SATCOM_STATE_STANDBY

pthread_mutex_t	_tx_buf_mutex = pthread_mutex_t()

pthread_mutex_t	_rx_buf_mutex = pthread_mutex_t()

bool	_verbose = false

iridiumsbd_status_s	_status = {}

subsystem_info_s	_info = {}

Static Private Attributes
static IridiumSBD *	instance

static int	task_handle

Additional Inherited Members
Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

The driver for the Rockblock 9602 and 9603 RockBlock module for satellite communication over the Iridium satellite system.

The MavLink 1 protocol should be used to ensure that the status message is 50 bytes (RockBlock bills every 50 bytes per transmission).

TODO:

Improve TX buffer handling:
- Do not reset the full TX buffer but delete the oldest HIGH_LATENCY2 message if one is in the buffer or delete the oldest message in general

Definition at line 102 of file IridiumSBD.h.

Constructor & Destructor Documentation

◆ IridiumSBD()

IridiumSBD::IridiumSBD ( )

Definition at line 59 of file IridiumSBD.cpp.

Referenced by start().

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Member Function Documentation

◆ clear_mo_buffer()

bool IridiumSBD::clear_mo_buffer ( )

private

Definition at line 975 of file IridiumSBD.cpp.

References _rx_command_buf, read_at_command(), SATCOM_RESULT_OK, VERBOSE_INFO, and write_at().

Referenced by standby_loop().

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◆ close_last()

int IridiumSBD::close_last ( struct file * filep )

overrideprivatevirtual

Notification of the last close of CDev.

This function is called when the device open count transitions from one to zero. The driver lock is held for the duration of the call.

Notes that CDev is not used anymore and allows stopping the driver.

Parameters

filep Pointer to the NuttX file structure.

Returns: OK if the open should return OK, -errno otherwise.

Definition at line 1142 of file IridiumSBD.cpp.

References _cdev_used.

◆ csq_loop()

void IridiumSBD::csq_loop ( void )

private

Definition at line 441 of file IridiumSBD.cpp.

References _new_state, _rx_command_buf, _signal_quality, read_at_command(), SATCOM_RESULT_NA, SATCOM_RESULT_OK, SATCOM_STATE_STANDBY, and VERBOSE_INFO.

Referenced by main_loop().

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◆ ioctl()

int IridiumSBD::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

Definition at line 187 of file IridiumSBD.cpp.

References _rx_msg_end_idx, _rx_msg_read_idx, _tx_buf_write_idx, OK, SATCOM_MAX_MESSAGE_LENGTH, and SATCOM_TX_BUF_LEN.

◆ is_modem_ready()

bool IridiumSBD::is_modem_ready ( void )

private

Definition at line 1009 of file IridiumSBD.cpp.

References read_at_command(), SATCOM_RESULT_OK, and write_at().

Referenced by read_rx_buf(), start_csq(), start_sbd_session(), start_test(), and write_tx_buf().

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◆ main_loop()

void IridiumSBD::main_loop	(	int	argc,
		char *	argv[]
	)

private

Definition at line 230 of file IridiumSBD.cpp.

References _new_state, _param_read_interval_s, _param_session_timeout_s, _param_stacking_time_ms, _rx_buf_mutex, _start_completed, _state, _task_should_exit, _tx_buf_mutex, _verbose, counter, csq_loop(), ToneAlarmInterface::init(), open_uart(), param_find(), param_get(), publish_iridium_status(), publish_subsystem_status(), read_at_command(), SATCOM_RESULT_OK, SATCOM_STATE_CSQ, SATCOM_STATE_SBDSESSION, SATCOM_STATE_STANDBY, satcom_state_string, SATCOM_STATE_TEST, SATCOM_UART_OK, sbdsession_loop(), standby_loop(), test_loop(), VERBOSE_INFO, and write_at().

Referenced by main_loop_helper().

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◆ main_loop_helper()

void IridiumSBD::main_loop_helper	(	int	argc,
		char *	argv[]
	)

staticprivate

Definition at line 216 of file IridiumSBD.cpp.

References cdev::CDev::close(), instance, main_loop(), task_handle, and uart_fd.

Referenced by start().

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◆ open_first()

int IridiumSBD::open_first ( struct file * filep )

overrideprivatevirtual

Notification of the first open of CDev.

This function is called when the device open count transitions from zero to one. The driver lock is held for the duration of the call.

Notes that CDev is used and blocks stopping the driver.

Parameters

filep Pointer to the NuttX file structure.

Returns: OK if the open should proceed, -errno otherwise.

Definition at line 1136 of file IridiumSBD.cpp.

References _cdev_used.

◆ open_uart()

satcom_uart_status IridiumSBD::open_uart ( char * uart_name )

private

Definition at line 987 of file IridiumSBD.cpp.

References cdev::CDev::open(), SATCOM_UART_OK, SATCOM_UART_OPEN_FAIL, uart_fd, and VERBOSE_INFO.

Referenced by main_loop().

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◆ poll_state()

pollevent_t IridiumSBD::poll_state ( struct file * filp )

private

Definition at line 1021 of file IridiumSBD.cpp.

References _rx_msg_end_idx, _rx_msg_read_idx, _tx_buf_write_idx, and SATCOM_TX_BUF_LEN.

◆ publish_iridium_status()

void IridiumSBD::publish_iridium_status ( void )

private

Definition at line 1036 of file IridiumSBD.cpp.

Referenced by main_loop().

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◆ publish_subsystem_status()

void IridiumSBD::publish_subsystem_status ( )

private

Definition at line 1118 of file IridiumSBD.cpp.

References _info, _status, _subsystem_pub, subsystem_info_s::enabled, hrt_absolute_time(), iridiumsbd_status_s::last_heartbeat, subsystem_info_s::ok, subsystem_info_s::present, uORB::PublicationQueued< T >::publish(), subsystem_info_s::subsystem_type, and subsystem_info_s::timestamp.

Referenced by main_loop().

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◆ read()

ssize_t IridiumSBD::read	(	struct file *	filp,
		char *	buffer,
		size_t	buflen
	)

private

Definition at line 751 of file IridiumSBD.cpp.

References _rx_buf_mutex, _rx_msg_buf, _rx_msg_end_idx, _rx_msg_read_idx, and VERBOSE_INFO.

Referenced by read_at().

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◆ read_at()

satcom_result_code IridiumSBD::read_at	(	uint8_t *	rx_buf,
		int *	rx_len,
		int16_t	timeout = `100`
	)

private

Definition at line 905 of file IridiumSBD.cpp.

References _ring_pending, _rx_session_pending, cdev::CDev::poll(), read(), SATCOM_RESULT_ERROR, SATCOM_RESULT_HWFAIL, SATCOM_RESULT_NA, SATCOM_RESULT_OK, SATCOM_RESULT_READY, SATCOM_RESULT_SBDRING, uart_fd, and VERBOSE_INFO.

Referenced by read_at_command(), and read_at_msg().

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◆ read_at_command()

satcom_result_code IridiumSBD::read_at_command ( int16_t timeout = 100 )

private

Definition at line 895 of file IridiumSBD.cpp.

References _rx_command_buf, _rx_command_len, and read_at().

Referenced by clear_mo_buffer(), csq_loop(), is_modem_ready(), main_loop(), sbdsession_loop(), standby_loop(), start_test(), test_loop(), and write_tx_buf().

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◆ read_at_msg()

satcom_result_code IridiumSBD::read_at_msg ( int16_t timeout = 100 )

private

Definition at line 900 of file IridiumSBD.cpp.

References _rx_msg_buf, _rx_msg_end_idx, and read_at().

Referenced by read_rx_buf().

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◆ read_rx_buf()

void IridiumSBD::read_rx_buf ( void )

private

Definition at line 837 of file IridiumSBD.cpp.

References _rx_buf_mutex, _rx_msg_buf, _rx_msg_end_idx, _rx_msg_read_idx, _rx_read_pending, is_modem_ready(), read_at_msg(), SATCOM_RESULT_OK, VERBOSE_INFO, and write_at().

Referenced by standby_loop().

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◆ sbdsession_loop()

void IridiumSBD::sbdsession_loop ( void )

private

Definition at line 471 of file IridiumSBD.cpp.

References _failed_sbd_sessions, _last_heartbeat, _last_read_time, _new_state, _param_session_timeout_s, _ring_pending, _rx_command_buf, _rx_read_pending, _rx_session_pending, _session_start_time, _signal_quality, _successful_sbd_sessions, _tx_buf_mutex, _tx_buf_write_idx, _tx_session_pending, hrt_absolute_time(), read_at_command(), SATCOM_RESULT_NA, SATCOM_RESULT_OK, SATCOM_STATE_STANDBY, and VERBOSE_INFO.

Referenced by main_loop().

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◆ schedule_test()

void IridiumSBD::schedule_test ( void )

private

Definition at line 970 of file IridiumSBD.cpp.

References _test_pending.

Referenced by test().

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◆ standby_loop()

void IridiumSBD::standby_loop ( void )

private

Definition at line 375 of file IridiumSBD.cpp.

References _last_read_time, _last_signal_check, _last_write_time, _new_state, _param_read_interval_s, _param_stacking_time_ms, _rx_msg_end_idx, _rx_msg_read_idx, _rx_read_pending, _rx_session_pending, _signal_quality, _test_command, _test_pending, _test_timer, _tx_buf_write_pending, _tx_session_pending, clear_mo_buffer(), hrt_absolute_time(), read_at_command(), read_rx_buf(), SATCOM_SIGNAL_REFRESH_DELAY, SATCOM_STATE_STANDBY, start_csq(), start_sbd_session(), start_test(), write(), and write_tx_buf().

Referenced by main_loop().

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◆ start()

int IridiumSBD::start	(	int	argc,
		char *	argv[]
	)

static

Definition at line 68 of file IridiumSBD.cpp.

References _start_completed, _task_should_exit, counter, IridiumSBD(), main_loop_helper(), and task_handle.

Referenced by iridiumsbd_main().

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◆ start_csq()

void IridiumSBD::start_csq ( void )

private

Definition at line 600 of file IridiumSBD.cpp.

References _last_signal_check, _new_state, _state, hrt_absolute_time(), is_modem_ready(), SATCOM_STATE_CSQ, SATCOM_STATE_STANDBY, VERBOSE_INFO, and write_at().

Referenced by standby_loop().

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◆ start_sbd_session()

void IridiumSBD::start_sbd_session ( void )

private

Definition at line 621 of file IridiumSBD.cpp.

References _new_state, _ring_pending, _session_start_time, _state, _tx_buf_mutex, hrt_absolute_time(), is_modem_ready(), SATCOM_STATE_SBDSESSION, SATCOM_STATE_STANDBY, VERBOSE_INFO, and write_at().

Referenced by standby_loop().

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◆ start_test()

void IridiumSBD::start_test ( void )

private

Definition at line 650 of file IridiumSBD.cpp.

References _new_state, _rx_command_buf, _rx_command_len, _state, _test_command, is_modem_ready(), read_at_command(), SATCOM_RESULT_NA, SATCOM_STATE_STANDBY, SATCOM_STATE_TEST, and write_at().

Referenced by standby_loop().

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◆ status()

void IridiumSBD::status ( )

static

Definition at line 145 of file IridiumSBD.cpp.

References _last_heartbeat, _last_signal_check, _rx_read_pending, _rx_session_pending, _signal_quality, _state, _tx_buf_write_idx, _tx_session_pending, hrt_absolute_time(), instance, and satcom_state_string.

Referenced by iridiumsbd_main().

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◆ stop()

int IridiumSBD::stop ( )

static

Definition at line 107 of file IridiumSBD.cpp.

References _cdev_used, _task_should_exit, cdev::CDev::close(), instance, OK, task_handle, and uart_fd.

Referenced by iridiumsbd_main().

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◆ test()

void IridiumSBD::test	(	int	argc,
		char *	argv[]
	)

static

Definition at line 164 of file IridiumSBD.cpp.

References _state, _test_command, _test_pending, instance, SATCOM_STATE_STANDBY, and schedule_test().

Referenced by iridiumsbd_main().

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◆ test_loop()

void IridiumSBD::test_loop ( void )

private

Definition at line 583 of file IridiumSBD.cpp.

References _new_state, _rx_command_buf, _rx_command_len, _test_timer, hrt_absolute_time(), read_at_command(), SATCOM_RESULT_NA, and SATCOM_STATE_STANDBY.

Referenced by main_loop().

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◆ write()

ssize_t IridiumSBD::write	(	struct file *	filp,
		const char *	buffer,
		size_t	buflen
	)

private

Definition at line 691 of file IridiumSBD.cpp.

References _last_write_time, _num_tx_buf_reset, _packet_length, _tx_buf, _tx_buf_mutex, _tx_buf_write_idx, _tx_buf_write_pending, _writing_mavlink_packet, hrt_absolute_time(), SATCOM_TX_BUF_LEN, and VERBOSE_INFO.

Referenced by standby_loop(), write_at(), and write_tx_buf().

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◆ write_at()

void IridiumSBD::write_at ( const char * command )

private

Definition at line 887 of file IridiumSBD.cpp.

References uart_fd, VERBOSE_INFO, and write().

Referenced by clear_mo_buffer(), is_modem_ready(), main_loop(), read_rx_buf(), start_csq(), start_sbd_session(), start_test(), and write_tx_buf().

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◆ write_tx_buf()

void IridiumSBD::write_tx_buf ( )

private

Definition at line 776 of file IridiumSBD.cpp.

References _rx_command_buf, _tx_buf, _tx_buf_mutex, _tx_buf_write_idx, _tx_buf_write_pending, _tx_session_pending, command, is_modem_ready(), read_at_command(), SATCOM_RESULT_OK, SATCOM_RESULT_READY, uart_fd, VERBOSE_INFO, write(), and write_at().

Referenced by standby_loop().

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Member Data Documentation

◆ _cdev_used

bool IridiumSBD::_cdev_used = false

private

Definition at line 331 of file IridiumSBD.h.

Referenced by close_last(), open_first(), and stop().

◆ _failed_sbd_sessions

uint16_t IridiumSBD::_failed_sbd_sessions = 0

private

Definition at line 301 of file IridiumSBD.h.

Referenced by publish_iridium_status(), and sbdsession_loop().

◆ _info

subsystem_info_s IridiumSBD::_info = {}

private

Definition at line 347 of file IridiumSBD.h.

Referenced by publish_subsystem_status().

◆ _iridiumsbd_status_pub

uORB::Publication<iridiumsbd_status_s> IridiumSBD::_iridiumsbd_status_pub {ORB_ID(iridiumsbd_status)}

private

Definition at line 308 of file IridiumSBD.h.

Referenced by publish_iridium_status().

◆ _last_heartbeat

hrt_abstime IridiumSBD::_last_heartbeat = 0

private

Definition at line 335 of file IridiumSBD.h.

Referenced by publish_iridium_status(), sbdsession_loop(), and status().

◆ _last_read_time

hrt_abstime IridiumSBD::_last_read_time = 0

private

Definition at line 334 of file IridiumSBD.h.

Referenced by sbdsession_loop(), and standby_loop().

◆ _last_signal_check

hrt_abstime IridiumSBD::_last_signal_check = 0

private

Definition at line 299 of file IridiumSBD.h.

Referenced by standby_loop(), start_csq(), and status().

◆ _last_write_time

hrt_abstime IridiumSBD::_last_write_time = 0

private

Definition at line 333 of file IridiumSBD.h.

Referenced by standby_loop(), and write().

◆ _new_state

satcom_state IridiumSBD::_new_state = SATCOM_STATE_STANDBY

private

Definition at line 339 of file IridiumSBD.h.

Referenced by csq_loop(), main_loop(), sbdsession_loop(), standby_loop(), start_csq(), start_sbd_session(), start_test(), and test_loop().

◆ _num_tx_buf_reset

uint16_t IridiumSBD::_num_tx_buf_reset = 0

private

Definition at line 303 of file IridiumSBD.h.

Referenced by publish_iridium_status(), and write().

◆ _packet_length

uint16_t IridiumSBD::_packet_length = 0

private

Definition at line 306 of file IridiumSBD.h.

Referenced by write().

◆ _param_read_interval_s

int32_t IridiumSBD::_param_read_interval_s = -1

private

Definition at line 295 of file IridiumSBD.h.

Referenced by main_loop(), and standby_loop().

◆ _param_session_timeout_s

int32_t IridiumSBD::_param_session_timeout_s = -1

private

Definition at line 296 of file IridiumSBD.h.

Referenced by main_loop(), and sbdsession_loop().

◆ _param_stacking_time_ms

int32_t IridiumSBD::_param_stacking_time_ms = -1

private

Definition at line 297 of file IridiumSBD.h.

Referenced by main_loop(), and standby_loop().

◆ _ring_pending

bool IridiumSBD::_ring_pending = false

private

Definition at line 326 of file IridiumSBD.h.

Referenced by publish_iridium_status(), read_at(), sbdsession_loop(), and start_sbd_session().

◆ _rx_buf_mutex

pthread_mutex_t IridiumSBD::_rx_buf_mutex = pthread_mutex_t()

private

Definition at line 342 of file IridiumSBD.h.

Referenced by main_loop(), read(), and read_rx_buf().

◆ _rx_command_buf

uint8_t IridiumSBD::_rx_command_buf[SATCOM_RX_COMMAND_BUF_LEN] = {}

private

Definition at line 315 of file IridiumSBD.h.

Referenced by clear_mo_buffer(), csq_loop(), read_at_command(), sbdsession_loop(), start_test(), test_loop(), and write_tx_buf().

◆ _rx_command_len

int IridiumSBD::_rx_command_len = 0

private

Definition at line 316 of file IridiumSBD.h.

Referenced by read_at_command(), start_test(), and test_loop().

◆ _rx_msg_buf

uint8_t IridiumSBD::_rx_msg_buf[SATCOM_RX_MSG_BUF_LEN] = {}

private

Definition at line 318 of file IridiumSBD.h.

Referenced by read(), read_at_msg(), and read_rx_buf().

◆ _rx_msg_end_idx

int IridiumSBD::_rx_msg_end_idx = 0

private

Definition at line 319 of file IridiumSBD.h.

Referenced by ioctl(), poll_state(), publish_iridium_status(), read(), read_at_msg(), read_rx_buf(), and standby_loop().

◆ _rx_msg_read_idx

int IridiumSBD::_rx_msg_read_idx = 0

private

Definition at line 320 of file IridiumSBD.h.

Referenced by ioctl(), poll_state(), publish_iridium_status(), read(), read_rx_buf(), and standby_loop().

◆ _rx_read_pending

bool IridiumSBD::_rx_read_pending = false

private

Definition at line 328 of file IridiumSBD.h.

Referenced by publish_iridium_status(), read_rx_buf(), sbdsession_loop(), standby_loop(), and status().

◆ _rx_session_pending

bool IridiumSBD::_rx_session_pending = false

private

Definition at line 327 of file IridiumSBD.h.

Referenced by publish_iridium_status(), read_at(), sbdsession_loop(), standby_loop(), and status().

◆ _session_start_time

hrt_abstime IridiumSBD::_session_start_time = 0

private

Definition at line 336 of file IridiumSBD.h.

Referenced by sbdsession_loop(), and start_sbd_session().

◆ _signal_quality

uint8_t IridiumSBD::_signal_quality = 0

private

Definition at line 300 of file IridiumSBD.h.

Referenced by csq_loop(), publish_iridium_status(), sbdsession_loop(), standby_loop(), and status().

◆ _start_completed

bool IridiumSBD::_start_completed = false

private

Definition at line 292 of file IridiumSBD.h.

Referenced by main_loop(), and start().

◆ _state

satcom_state IridiumSBD::_state = SATCOM_STATE_STANDBY

private

Definition at line 338 of file IridiumSBD.h.

Referenced by main_loop(), publish_iridium_status(), start_csq(), start_sbd_session(), start_test(), status(), and test().

◆ _status

iridiumsbd_status_s IridiumSBD::_status = {}

private

Definition at line 346 of file IridiumSBD.h.

Referenced by publish_iridium_status(), and publish_subsystem_status().

◆ _subsystem_pub

uORB::PublicationQueued<subsystem_info_s> IridiumSBD::_subsystem_pub {ORB_ID(subsystem_info)}

private

Definition at line 309 of file IridiumSBD.h.

Referenced by publish_subsystem_status().

◆ _successful_sbd_sessions

uint16_t IridiumSBD::_successful_sbd_sessions = 0

private

Definition at line 302 of file IridiumSBD.h.

Referenced by publish_iridium_status(), and sbdsession_loop().

◆ _task_should_exit

bool IridiumSBD::_task_should_exit = false

private

Definition at line 291 of file IridiumSBD.h.

Referenced by main_loop(), start(), and stop().

◆ _test_command

char IridiumSBD::_test_command[32]

private

Definition at line 312 of file IridiumSBD.h.

Referenced by standby_loop(), start_test(), and test().

◆ _test_pending

bool IridiumSBD::_test_pending = false

private

Definition at line 311 of file IridiumSBD.h.

Referenced by schedule_test(), standby_loop(), and test().

◆ _test_timer

hrt_abstime IridiumSBD::_test_timer = 0

private

Definition at line 313 of file IridiumSBD.h.

Referenced by standby_loop(), and test_loop().

◆ _tx_buf

uint8_t IridiumSBD::_tx_buf[SATCOM_TX_BUF_LEN] = {}

private

Definition at line 322 of file IridiumSBD.h.

Referenced by write(), and write_tx_buf().

◆ _tx_buf_mutex

pthread_mutex_t IridiumSBD::_tx_buf_mutex = pthread_mutex_t()

private

Definition at line 341 of file IridiumSBD.h.

Referenced by main_loop(), sbdsession_loop(), start_sbd_session(), write(), and write_tx_buf().

◆ _tx_buf_write_idx

int IridiumSBD::_tx_buf_write_idx = 0

private

Definition at line 323 of file IridiumSBD.h.

Referenced by ioctl(), poll_state(), publish_iridium_status(), sbdsession_loop(), status(), write(), and write_tx_buf().

◆ _tx_buf_write_pending

bool IridiumSBD::_tx_buf_write_pending = false

private

Definition at line 325 of file IridiumSBD.h.

Referenced by publish_iridium_status(), standby_loop(), write(), and write_tx_buf().

◆ _tx_session_pending

bool IridiumSBD::_tx_session_pending = false

private

Definition at line 329 of file IridiumSBD.h.

Referenced by publish_iridium_status(), sbdsession_loop(), standby_loop(), status(), and write_tx_buf().

◆ _verbose

bool IridiumSBD::_verbose = false

private

Definition at line 344 of file IridiumSBD.h.

Referenced by main_loop().

◆ _writing_mavlink_packet

bool IridiumSBD::_writing_mavlink_packet = false

private

Definition at line 305 of file IridiumSBD.h.

Referenced by write().

◆ instance

IridiumSBD * IridiumSBD::instance

staticprivate

Definition at line 289 of file IridiumSBD.h.

Referenced by main_loop_helper(), status(), stop(), and test().

◆ task_handle

int IridiumSBD::task_handle

staticprivate

Definition at line 290 of file IridiumSBD.h.

Referenced by main_loop_helper(), start(), and stop().

◆ uart_fd

int IridiumSBD::uart_fd = -1

private

Definition at line 293 of file IridiumSBD.h.

Referenced by main_loop_helper(), open_uart(), read_at(), stop(), write_at(), and write_tx_buf().

The documentation for this class was generated from the following files:

src/drivers/telemetry/iridiumsbd/IridiumSBD.h
src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IridiumSBD()

Member Function Documentation

◆ clear_mo_buffer()

◆ close_last()

◆ csq_loop()

◆ ioctl()

◆ is_modem_ready()

◆ main_loop()

◆ main_loop_helper()

◆ open_first()

◆ open_uart()

◆ poll_state()

◆ publish_iridium_status()

◆ publish_subsystem_status()

◆ read()

◆ read_at()

◆ read_at_command()

◆ read_at_msg()

◆ read_rx_buf()

◆ sbdsession_loop()

◆ schedule_test()

◆ standby_loop()

◆ start()

◆ start_csq()

◆ start_sbd_session()

◆ start_test()

◆ status()

◆ stop()

◆ test()

◆ test_loop()

◆ write()

◆ write_at()

◆ write_tx_buf()

Member Data Documentation

◆ _cdev_used

◆ _failed_sbd_sessions

◆ _info

◆ _iridiumsbd_status_pub

◆ _last_heartbeat

◆ _last_read_time

◆ _last_signal_check

◆ _last_write_time

◆ _new_state

◆ _num_tx_buf_reset

◆ _packet_length

◆ _param_read_interval_s

◆ _param_session_timeout_s

◆ _param_stacking_time_ms

◆ _ring_pending

◆ _rx_buf_mutex

◆ _rx_command_buf

◆ _rx_command_len

◆ _rx_msg_buf

◆ _rx_msg_end_idx

◆ _rx_msg_read_idx

◆ _rx_read_pending

◆ _rx_session_pending

◆ _session_start_time

◆ _signal_quality

◆ _start_completed

◆ _state

◆ _status

◆ _subsystem_pub

◆ _successful_sbd_sessions

◆ _task_should_exit

◆ _test_command

◆ _test_pending

◆ _test_timer

◆ _tx_buf

◆ _tx_buf_mutex

◆ _tx_buf_write_idx