uart.c
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "uart.h"
#include <string.h>
#include<stdio.h>
#include<fcntl.h>
#include<termios.h>
//#define SERIAL_TRACE
int g_uart_df = -1;
#if defined(SERIAL_TRACE)
int in = 0;
int out = 0;
char in_trace[254];
char out_trace[254];
#endif
void uart_cinit(void *config)
{
char *init = strdup(config ? (char *) config : "");
char *pt = strtok((char *) init, ",");
char *device = "/dev/ttyS0";
int baud = 115200;
if (pt != NULL) {
device = pt;
pt = strtok(NULL, ",");
if (pt != NULL) {
baud = atol(pt);
}
}
int fd = open(device, O_RDWR | O_NONBLOCK);
if (fd >= 0) {
g_uart_df = fd;
struct termios t;
tcgetattr(g_uart_df, &t);
t.c_cflag &= ~(CSIZE | PARENB | CSTOPB);
t.c_cflag |= (CS8);
cfsetspeed(&t, baud);
tcsetattr(g_uart_df, TCSANOW, &t);
}
free(init);
}
void uart_cfini(void)
{
close(g_uart_df);
g_uart_df = -1;
}
int uart_cin(void)
{
int c = -1;
if (g_uart_df >= 0) {
char b;
if (read(g_uart_df, &b, 1) == 1) {
c = b;
#if defined(SERIAL_TRACE)
in_trace[in] = b;
in++;
in &= 255;
#endif
}
}
return c;
}
void uart_cout(uint8_t *buf, unsigned len)
{
uint32_t timeout = 1000;
for (unsigned i = 0; i < len; i++) {
while (timeout) {
if (write(g_uart_df, &buf[i], 1) == 1) {
#if defined(SERIAL_TRACE)
out_trace[out] = buf[i];
out++;
out &= 255;
#endif
timeout = 1000;
break;
} else {
if (timeout-- == 0) {
return;
}
}
}
}
}