/** ****************************************************************************** * * @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