mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
333 lines
8.6 KiB
C
333 lines
8.6 KiB
C
|
/**
|
||
|
******************************************************************************
|
||
|
*
|
||
|
* @file pios_com.c
|
||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||
|
* Parts by Thorsten Klose (tk@midibox.org)
|
||
|
* @brief COM layer functions
|
||
|
* @see The GNU Public License (GPL) Version 3
|
||
|
* @defgroup PIOS_COM COM layer functions
|
||
|
* @{
|
||
|
*
|
||
|
*****************************************************************************/
|
||
|
/*
|
||
|
* This program 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 3 of the License, or
|
||
|
* (at your option) any later version.
|
||
|
*
|
||
|
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
*/
|
||
|
|
||
|
|
||
|
/* Project Includes */
|
||
|
#include "pios.h"
|
||
|
|
||
|
#if defined(PIOS_INCLUDE_COM)
|
||
|
|
||
|
#include <sys/types.h>
|
||
|
#include <sys/stat.h>
|
||
|
#include <fcntl.h>
|
||
|
#include <unistd.h>
|
||
|
#include <string.h>
|
||
|
|
||
|
|
||
|
|
||
|
//#include <pios_com_priv.h>
|
||
|
#define NUM_FIFOS 16
|
||
|
#define BUFFER_SIZE 1024
|
||
|
|
||
|
int fifos_in[NUM_FIFOS];
|
||
|
int fifos_out[NUM_FIFOS];
|
||
|
|
||
|
int buffer_fill[NUM_FIFOS];
|
||
|
char buffer[NUM_FIFOS][BUFFER_SIZE];
|
||
|
|
||
|
|
||
|
static int find_com_dev_by_id (uint8_t port)
|
||
|
{
|
||
|
if (port >= NUM_FIFOS) {
|
||
|
/* Undefined COM port for this board (see pios_board.c) */
|
||
|
return -1;
|
||
|
}
|
||
|
|
||
|
/* Get a handle for the device configuration */
|
||
|
return port;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Initialises COM layer
|
||
|
* \param[in] mode currently only mode 0 supported
|
||
|
* \return < 0 if initialisation failed
|
||
|
*/
|
||
|
int32_t PIOS_COM_Init(void)
|
||
|
{
|
||
|
int32_t ret = 0;
|
||
|
|
||
|
char filename[]="/tmp/OpenPlotCOMPort66666666.out";
|
||
|
int32_t t;
|
||
|
for (t=0;t<NUM_FIFOS;t++) {
|
||
|
sprintf(filename,"/tmp/OpenPlotCOMPort%i.in",t);
|
||
|
mknod(filename,S_IFIFO | S_IRWXU | S_IRWXG | S_IRWXO,0);
|
||
|
fifos_in[t]=open(filename,O_RDONLY);
|
||
|
|
||
|
sprintf(filename,"/tmp/OpenPlotCOMPort%i.out",t);
|
||
|
mknod(filename,S_IFIFO | S_IRWXU | S_IRWXG | S_IRWXO,0);
|
||
|
fifos_out[t]=open(filename,O_RDONLY);
|
||
|
|
||
|
buffer_fill[t]=0;
|
||
|
}
|
||
|
return ret;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Change the port speed without re-initializing
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] baud Requested baud rate
|
||
|
* \return -1 if port not available
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud)
|
||
|
{
|
||
|
// struct pios_com_dev * com_dev;
|
||
|
|
||
|
int com_dev;
|
||
|
com_dev = find_com_dev_by_id (port);
|
||
|
|
||
|
if (com_dev==-1) {
|
||
|
/* Undefined COM port for this board (see pios_board.c) */
|
||
|
return -1;
|
||
|
}
|
||
|
|
||
|
/* Invoke the driver function if it exists */
|
||
|
// if (com_dev->driver->set_baud) {
|
||
|
// com_dev->driver->set_baud(com_dev->id, baud);
|
||
|
// }
|
||
|
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a package over given port
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] buffer character buffer
|
||
|
* \param[in] len buffer length
|
||
|
* \return -1 if port not available
|
||
|
* \return -2 if non-blocking mode activated: buffer is full
|
||
|
* caller should retry until buffer is free again
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, uint8_t *buffer, uint16_t len)
|
||
|
{
|
||
|
int com_dev;
|
||
|
int opts;
|
||
|
|
||
|
com_dev = find_com_dev_by_id (port);
|
||
|
|
||
|
if (com_dev==-1) {
|
||
|
/* Undefined COM port for this board (see pios_board.c) */
|
||
|
return -1;
|
||
|
}
|
||
|
|
||
|
/* Invoke the driver function if it exists */
|
||
|
//if (com_dev->driver->tx_nb) {
|
||
|
// return com_dev->driver->tx_nb(com_dev->id, buffer, len);
|
||
|
// }
|
||
|
opts = fcntl(fifos_out[com_dev],F_GETFL);
|
||
|
opts = opts | O_NONBLOCK;
|
||
|
fcntl(fifos_out[com_dev],F_SETFL, opts);
|
||
|
write(fifos_out[com_dev],buffer,len);
|
||
|
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a package over given port
|
||
|
* (blocking function)
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] buffer character buffer
|
||
|
* \param[in] len buffer length
|
||
|
* \return -1 if port not available
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendBuffer(uint8_t port, uint8_t *buffer, uint16_t len)
|
||
|
{
|
||
|
int com_dev;
|
||
|
int opts;
|
||
|
|
||
|
com_dev = find_com_dev_by_id (port);
|
||
|
|
||
|
if (com_dev==-1) {
|
||
|
/* Undefined COM port for this board (see pios_board.c) */
|
||
|
return -1;
|
||
|
}
|
||
|
|
||
|
/* Invoke the driver function if it exists */
|
||
|
//if (com_dev->driver->tx_nb) {
|
||
|
// return com_dev->driver->tx_nb(com_dev->id, buffer, len);
|
||
|
// }
|
||
|
opts = fcntl(fifos_out[com_dev],F_GETFL);
|
||
|
opts = opts & ~O_NONBLOCK;
|
||
|
fcntl(fifos_out[com_dev],F_SETFL, opts);
|
||
|
write(fifos_out[com_dev],buffer,len);
|
||
|
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a single character over given port
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] c character
|
||
|
* \return -1 if port not available
|
||
|
* \return -2 buffer is full
|
||
|
* caller should retry until buffer is free again
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendCharNonBlocking(uint8_t port, char c)
|
||
|
{
|
||
|
return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)&c, 1);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a single character over given port
|
||
|
* (blocking function)
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] c character
|
||
|
* \return -1 if port not available
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendChar(uint8_t port, char c)
|
||
|
{
|
||
|
return PIOS_COM_SendBuffer(port, (uint8_t *)&c, 1);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a string over given port
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] str zero-terminated string
|
||
|
* \return -1 if port not available
|
||
|
* \return -2 buffer is full
|
||
|
* caller should retry until buffer is free again
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendStringNonBlocking(uint8_t port, char *str)
|
||
|
{
|
||
|
return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str));
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a string over given port
|
||
|
* (blocking function)
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] str zero-terminated string
|
||
|
* \return -1 if port not available
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendString(uint8_t port, char *str)
|
||
|
{
|
||
|
return PIOS_COM_SendBuffer(port, (uint8_t *)str, strlen(str));
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a formatted string (-> printf) over given port
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] *format zero-terminated format string - 128 characters supported maximum!
|
||
|
* \param[in] ... optional arguments,
|
||
|
* 128 characters supported maximum!
|
||
|
* \return -2 if non-blocking mode activated: buffer is full
|
||
|
* caller should retry until buffer is free again
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendFormattedStringNonBlocking(uint8_t port, char *format, ...)
|
||
|
{
|
||
|
uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
|
||
|
|
||
|
va_list args;
|
||
|
|
||
|
va_start(args, format);
|
||
|
vsprintf((char *)buffer, format, args);
|
||
|
return PIOS_COM_SendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer));
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Sends a formatted string (-> printf) over given port
|
||
|
* (blocking function)
|
||
|
* \param[in] port COM port
|
||
|
* \param[in] *format zero-terminated format string - 128 characters supported maximum!
|
||
|
* \param[in] ... optional arguments,
|
||
|
* \return -1 if port not available
|
||
|
* \return 0 on success
|
||
|
*/
|
||
|
int32_t PIOS_COM_SendFormattedString(uint8_t port, char *format, ...)
|
||
|
{
|
||
|
uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
|
||
|
va_list args;
|
||
|
|
||
|
va_start(args, format);
|
||
|
vsprintf((char *)buffer, format, args);
|
||
|
return PIOS_COM_SendBuffer(port, buffer, (uint16_t)strlen((char *)buffer));
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Transfer bytes from port buffers into another buffer
|
||
|
* \param[in] port COM port
|
||
|
* \returns Byte from buffer
|
||
|
*/
|
||
|
uint8_t PIOS_COM_ReceiveBuffer(uint8_t port)
|
||
|
{
|
||
|
int com_dev;
|
||
|
uint8_t b;
|
||
|
|
||
|
com_dev = find_com_dev_by_id (port);
|
||
|
|
||
|
if (com_dev==-1) {
|
||
|
/* Undefined COM port for this board (see pios_board.c) */
|
||
|
return -1;
|
||
|
}
|
||
|
|
||
|
/* read one byte from buffer */
|
||
|
b=buffer[com_dev][0];
|
||
|
memmove(&buffer[com_dev][0],&buffer[com_dev][1],BUFFER_SIZE-1);
|
||
|
|
||
|
return b;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Get the number of bytes waiting in the buffer
|
||
|
* \param[in] port COM port
|
||
|
* \return Number of bytes used in buffer
|
||
|
*/
|
||
|
int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port)
|
||
|
{
|
||
|
int com_dev,opts;
|
||
|
ssize_t read_bytes;
|
||
|
|
||
|
com_dev = find_com_dev_by_id (port);
|
||
|
|
||
|
if (com_dev==-1) {
|
||
|
/* Undefined COM port for this board (see pios_board.c) */
|
||
|
return -1;
|
||
|
}
|
||
|
|
||
|
/* fill buffer */
|
||
|
opts = fcntl(fifos_out[com_dev],F_GETFL);
|
||
|
opts = opts | O_NONBLOCK;
|
||
|
fcntl(fifos_out[com_dev],F_SETFL, opts);
|
||
|
read_bytes=read(fifos_in[com_dev],buffer[com_dev]+buffer_fill[com_dev],BUFFER_SIZE-buffer_fill[com_dev]);
|
||
|
if (read_bytes<0) {
|
||
|
read_bytes=0;
|
||
|
}
|
||
|
buffer_fill[com_dev]+=read_bytes;
|
||
|
return buffer_fill[com_dev];
|
||
|
|
||
|
}
|
||
|
|
||
|
#endif
|