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c2508bbb9e
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1200 ebee16cc-31ac-478f-84a7-5cbb03baadba
333 lines
8.6 KiB
C
333 lines
8.6 KiB
C
/**
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******************************************************************************
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*
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* @file pios_com.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* Parts by Thorsten Klose (tk@midibox.org)
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* @brief COM layer functions
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_COM COM layer functions
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_COM)
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <string.h>
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//#include <pios_com_priv.h>
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#define NUM_FIFOS 16
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#define BUFFER_SIZE 1024
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int fifos_in[NUM_FIFOS];
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int fifos_out[NUM_FIFOS];
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int buffer_fill[NUM_FIFOS];
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char buffer[NUM_FIFOS][BUFFER_SIZE];
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static int find_com_dev_by_id (uint8_t port)
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{
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if (port >= NUM_FIFOS) {
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/* Undefined COM port for this board (see pios_board.c) */
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return -1;
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}
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/* Get a handle for the device configuration */
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return port;
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}
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/**
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* Initialises COM layer
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* \param[in] mode currently only mode 0 supported
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* \return < 0 if initialisation failed
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*/
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int32_t PIOS_COM_Init(void)
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{
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int32_t ret = 0;
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char filename[]="/tmp/OpenPlotCOMPort66666666.out";
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int32_t t;
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for (t=0;t<NUM_FIFOS;t++) {
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sprintf(filename,"/tmp/OpenPlotCOMPort%i.in",t);
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mknod(filename,S_IFIFO | S_IRWXU | S_IRWXG | S_IRWXO,0);
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fifos_in[t]=open(filename,O_RDONLY);
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sprintf(filename,"/tmp/OpenPlotCOMPort%i.out",t);
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mknod(filename,S_IFIFO | S_IRWXU | S_IRWXG | S_IRWXO,0);
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fifos_out[t]=open(filename,O_RDONLY);
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buffer_fill[t]=0;
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}
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return ret;
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}
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/**
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* Change the port speed without re-initializing
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* \param[in] port COM port
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* \param[in] baud Requested baud rate
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud)
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{
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// struct pios_com_dev * com_dev;
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int com_dev;
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com_dev = find_com_dev_by_id (port);
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if (com_dev==-1) {
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/* Undefined COM port for this board (see pios_board.c) */
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return -1;
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}
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/* Invoke the driver function if it exists */
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// if (com_dev->driver->set_baud) {
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// com_dev->driver->set_baud(com_dev->id, baud);
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// }
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return 0;
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}
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/**
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* Sends a package over given port
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* \param[in] port COM port
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* \param[in] buffer character buffer
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* \param[in] len buffer length
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* \return -1 if port not available
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* \return -2 if non-blocking mode activated: buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, uint8_t *buffer, uint16_t len)
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{
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int com_dev;
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int opts;
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com_dev = find_com_dev_by_id (port);
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if (com_dev==-1) {
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/* Undefined COM port for this board (see pios_board.c) */
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return -1;
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}
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/* Invoke the driver function if it exists */
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//if (com_dev->driver->tx_nb) {
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// return com_dev->driver->tx_nb(com_dev->id, buffer, len);
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// }
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opts = fcntl(fifos_out[com_dev],F_GETFL);
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opts = opts | O_NONBLOCK;
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fcntl(fifos_out[com_dev],F_SETFL, opts);
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write(fifos_out[com_dev],buffer,len);
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return 0;
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}
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/**
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* Sends a package over given port
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* (blocking function)
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* \param[in] port COM port
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* \param[in] buffer character buffer
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* \param[in] len buffer length
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendBuffer(uint8_t port, uint8_t *buffer, uint16_t len)
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{
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int com_dev;
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int opts;
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com_dev = find_com_dev_by_id (port);
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if (com_dev==-1) {
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/* Undefined COM port for this board (see pios_board.c) */
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return -1;
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}
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/* Invoke the driver function if it exists */
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//if (com_dev->driver->tx_nb) {
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// return com_dev->driver->tx_nb(com_dev->id, buffer, len);
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// }
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opts = fcntl(fifos_out[com_dev],F_GETFL);
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opts = opts & ~O_NONBLOCK;
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fcntl(fifos_out[com_dev],F_SETFL, opts);
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write(fifos_out[com_dev],buffer,len);
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return 0;
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}
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/**
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* Sends a single character over given port
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* \param[in] port COM port
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* \param[in] c character
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* \return -1 if port not available
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* \return -2 buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendCharNonBlocking(uint8_t port, char c)
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{
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return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)&c, 1);
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}
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/**
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* Sends a single character over given port
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* (blocking function)
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* \param[in] port COM port
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* \param[in] c character
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendChar(uint8_t port, char c)
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{
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return PIOS_COM_SendBuffer(port, (uint8_t *)&c, 1);
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}
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/**
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* Sends a string over given port
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* \param[in] port COM port
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* \param[in] str zero-terminated string
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* \return -1 if port not available
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* \return -2 buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendStringNonBlocking(uint8_t port, char *str)
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{
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return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str));
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}
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/**
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* Sends a string over given port
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* (blocking function)
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* \param[in] port COM port
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* \param[in] str zero-terminated string
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendString(uint8_t port, char *str)
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{
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return PIOS_COM_SendBuffer(port, (uint8_t *)str, strlen(str));
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}
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/**
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* Sends a formatted string (-> printf) over given port
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* \param[in] port COM port
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* \param[in] *format zero-terminated format string - 128 characters supported maximum!
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* \param[in] ... optional arguments,
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* 128 characters supported maximum!
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* \return -2 if non-blocking mode activated: buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendFormattedStringNonBlocking(uint8_t port, char *format, ...)
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{
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uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
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va_list args;
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va_start(args, format);
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vsprintf((char *)buffer, format, args);
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return PIOS_COM_SendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer));
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}
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/**
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* Sends a formatted string (-> printf) over given port
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* (blocking function)
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* \param[in] port COM port
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* \param[in] *format zero-terminated format string - 128 characters supported maximum!
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* \param[in] ... optional arguments,
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendFormattedString(uint8_t port, char *format, ...)
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{
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uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
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va_list args;
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va_start(args, format);
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vsprintf((char *)buffer, format, args);
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return PIOS_COM_SendBuffer(port, buffer, (uint16_t)strlen((char *)buffer));
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}
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/**
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* Transfer bytes from port buffers into another buffer
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* \param[in] port COM port
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* \returns Byte from buffer
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*/
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uint8_t PIOS_COM_ReceiveBuffer(uint8_t port)
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{
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int com_dev;
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uint8_t b;
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com_dev = find_com_dev_by_id (port);
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if (com_dev==-1) {
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/* Undefined COM port for this board (see pios_board.c) */
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return -1;
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}
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/* read one byte from buffer */
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b=buffer[com_dev][0];
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memmove(&buffer[com_dev][0],&buffer[com_dev][1],BUFFER_SIZE-1);
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return b;
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}
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/**
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* Get the number of bytes waiting in the buffer
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* \param[in] port COM port
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* \return Number of bytes used in buffer
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*/
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int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port)
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{
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int com_dev,opts;
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ssize_t read_bytes;
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com_dev = find_com_dev_by_id (port);
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if (com_dev==-1) {
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/* Undefined COM port for this board (see pios_board.c) */
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return -1;
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}
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/* fill buffer */
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opts = fcntl(fifos_out[com_dev],F_GETFL);
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opts = opts | O_NONBLOCK;
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fcntl(fifos_out[com_dev],F_SETFL, opts);
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read_bytes=read(fifos_in[com_dev],buffer[com_dev]+buffer_fill[com_dev],BUFFER_SIZE-buffer_fill[com_dev]);
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if (read_bytes<0) {
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read_bytes=0;
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}
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buffer_fill[com_dev]+=read_bytes;
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return buffer_fill[com_dev];
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}
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#endif
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