refactoring of serial drivers for linux
This commit is contained in:
parent
70ec08bf1d
commit
819a298b19
@ -122,6 +122,7 @@ if(UNIX)
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option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
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OFF)
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option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
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option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
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endif()
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# Optional sources
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@ -5,11 +5,14 @@ endif()
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target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
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utility.cpp)
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if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
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add_subdirectory(gpio)
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endif()
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if(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS)
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add_subdirectory(serial)
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endif()
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if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
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if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
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add_subdirectory(gpio)
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endif()
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add_subdirectory(uart)
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# Adding those does not really make sense on Apple systems which are generally
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# host systems. It won't even compile as the headers are missing
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if(NOT APPLE)
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2
src/fsfw_hal/linux/serial/CMakeLists.txt
Normal file
2
src/fsfw_hal/linux/serial/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
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target_sources(${LIB_FSFW_NAME} PUBLIC SerialComIF.cpp SerialCookie.cpp
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helper.cpp)
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@ -1,7 +1,6 @@
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#include "UartComIF.h"
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#include <errno.h>
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#include <fcntl.h>
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#include <fsfw_hal/linux/serial/SerialComIF.h>
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#include <termios.h>
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#include <unistd.h>
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@ -11,13 +10,12 @@
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#include "fsfw/serviceinterface.h"
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#include "fsfw_hal/linux/utility.h"
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UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
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SerialComIF::SerialComIF(object_id_t objectId) : SystemObject(objectId) {}
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UartComIF::~UartComIF() {}
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SerialComIF::~SerialComIF() {}
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ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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if (cookie == nullptr) {
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return NULLPOINTER;
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@ -33,7 +31,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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int fileDescriptor = configureUartPort(uartCookie);
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if (fileDescriptor < 0) {
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@ -60,7 +58,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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return returnvalue::OK;
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}
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int UartComIF::configureUartPort(UartCookie* uartCookie) {
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int SerialComIF::configureUartPort(UartCookie* uartCookie) {
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struct termios options = {};
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std::string deviceFile = uartCookie->getDeviceFile();
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@ -89,11 +87,11 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
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return fd;
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}
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setParityOptions(&options, uartCookie);
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uart::setParity(options, uartCookie->getParity());
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setStopBitOptions(&options, uartCookie);
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setDatasizeOptions(&options, uartCookie);
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setFixedOptions(&options);
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setUartMode(&options, *uartCookie);
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uart::setMode(options, uartCookie->getUartMode());
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if (uartCookie->getInputShouldBeFlushed()) {
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tcflush(fd, TCIFLUSH);
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}
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@ -102,7 +100,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
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options.c_cc[VTIME] = 0;
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options.c_cc[VMIN] = 0;
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configureBaudrate(&options, uartCookie);
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uart::setBaudrate(options, uartCookie->getBaudrate());
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/* Save option settings */
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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@ -115,24 +113,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
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return fd;
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}
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void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear parity bit */
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options->c_cflag &= ~PARENB;
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switch (uartCookie->getParity()) {
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case Parity::EVEN:
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options->c_cflag |= PARENB;
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options->c_cflag &= ~PARODD;
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break;
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case Parity::ODD:
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options->c_cflag |= PARENB;
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options->c_cflag |= PARODD;
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break;
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default:
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break;
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}
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}
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void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
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void SerialComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear stop field. Sets stop bit to one bit */
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options->c_cflag &= ~CSTOPB;
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switch (uartCookie->getStopBits()) {
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@ -144,7 +125,7 @@ void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCooki
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}
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}
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void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
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void SerialComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear size bits */
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options->c_cflag &= ~CSIZE;
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switch (uartCookie->getBitsPerWord()) {
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@ -168,7 +149,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
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}
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}
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void UartComIF::setFixedOptions(struct termios* options) {
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void SerialComIF::setFixedOptions(struct termios* options) {
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/* Disable RTS/CTS hardware flow control */
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options->c_cflag &= ~CRTSCTS;
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/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
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@ -191,142 +172,9 @@ void UartComIF::setFixedOptions(struct termios* options) {
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options->c_oflag &= ~ONLCR;
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}
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void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
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switch (uartCookie->getBaudrate()) {
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case UartBaudRate::RATE_50:
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cfsetispeed(options, B50);
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cfsetospeed(options, B50);
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break;
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case UartBaudRate::RATE_75:
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cfsetispeed(options, B75);
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cfsetospeed(options, B75);
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break;
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case UartBaudRate::RATE_110:
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cfsetispeed(options, B110);
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cfsetospeed(options, B110);
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break;
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case UartBaudRate::RATE_134:
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cfsetispeed(options, B134);
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cfsetospeed(options, B134);
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break;
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case UartBaudRate::RATE_150:
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cfsetispeed(options, B150);
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cfsetospeed(options, B150);
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break;
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case UartBaudRate::RATE_200:
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cfsetispeed(options, B200);
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cfsetospeed(options, B200);
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break;
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case UartBaudRate::RATE_300:
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cfsetispeed(options, B300);
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cfsetospeed(options, B300);
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break;
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case UartBaudRate::RATE_600:
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cfsetispeed(options, B600);
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cfsetospeed(options, B600);
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break;
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case UartBaudRate::RATE_1200:
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cfsetispeed(options, B1200);
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cfsetospeed(options, B1200);
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break;
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case UartBaudRate::RATE_1800:
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cfsetispeed(options, B1800);
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cfsetospeed(options, B1800);
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break;
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case UartBaudRate::RATE_2400:
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cfsetispeed(options, B2400);
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cfsetospeed(options, B2400);
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break;
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case UartBaudRate::RATE_4800:
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cfsetispeed(options, B4800);
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cfsetospeed(options, B4800);
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break;
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case UartBaudRate::RATE_9600:
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cfsetispeed(options, B9600);
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cfsetospeed(options, B9600);
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break;
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case UartBaudRate::RATE_19200:
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cfsetispeed(options, B19200);
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cfsetospeed(options, B19200);
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break;
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case UartBaudRate::RATE_38400:
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cfsetispeed(options, B38400);
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cfsetospeed(options, B38400);
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break;
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case UartBaudRate::RATE_57600:
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cfsetispeed(options, B57600);
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cfsetospeed(options, B57600);
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break;
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case UartBaudRate::RATE_115200:
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cfsetispeed(options, B115200);
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cfsetospeed(options, B115200);
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break;
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case UartBaudRate::RATE_230400:
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cfsetispeed(options, B230400);
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cfsetospeed(options, B230400);
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break;
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#ifndef __APPLE__
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case UartBaudRate::RATE_460800:
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cfsetispeed(options, B460800);
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cfsetospeed(options, B460800);
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break;
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case UartBaudRate::RATE_500000:
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cfsetispeed(options, B500000);
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cfsetospeed(options, B500000);
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break;
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case UartBaudRate::RATE_576000:
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cfsetispeed(options, B576000);
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cfsetospeed(options, B576000);
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break;
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case UartBaudRate::RATE_921600:
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cfsetispeed(options, B921600);
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cfsetospeed(options, B921600);
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break;
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case UartBaudRate::RATE_1000000:
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cfsetispeed(options, B1000000);
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cfsetospeed(options, B1000000);
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break;
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case UartBaudRate::RATE_1152000:
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cfsetispeed(options, B1152000);
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cfsetospeed(options, B1152000);
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break;
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case UartBaudRate::RATE_1500000:
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cfsetispeed(options, B1500000);
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cfsetospeed(options, B1500000);
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break;
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case UartBaudRate::RATE_2000000:
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cfsetispeed(options, B2000000);
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cfsetospeed(options, B2000000);
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break;
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case UartBaudRate::RATE_2500000:
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cfsetispeed(options, B2500000);
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cfsetospeed(options, B2500000);
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break;
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case UartBaudRate::RATE_3000000:
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cfsetispeed(options, B3000000);
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cfsetospeed(options, B3000000);
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break;
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case UartBaudRate::RATE_3500000:
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cfsetispeed(options, B3500000);
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cfsetospeed(options, B3500000);
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break;
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case UartBaudRate::RATE_4000000:
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cfsetispeed(options, B4000000);
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cfsetospeed(options, B4000000);
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break;
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#endif // ! __APPLE__
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
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#endif
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break;
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}
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}
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ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
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ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
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int fd = 0;
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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if (sendLen == 0) {
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return returnvalue::OK;
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@ -348,7 +196,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
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@ -370,11 +218,10 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
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return returnvalue::OK;
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}
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ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
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ReturnValue_t SerialComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
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ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
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ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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@ -386,7 +233,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
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UartModes uartMode = uartCookie->getUartMode();
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
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return returnvalue::OK;
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@ -409,8 +256,8 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
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}
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}
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ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
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size_t requestLen) {
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ReturnValue_t SerialComIF::handleCanonicalRead(UartCookie& uartCookie,
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UartDeviceMap::iterator& iter, size_t requestLen) {
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ReturnValue_t result = returnvalue::OK;
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uint8_t maxReadCycles = uartCookie.getReadCycles();
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uint8_t currentReadCycles = 0;
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@ -467,8 +314,9 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
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return result;
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}
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ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
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size_t requestLen) {
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ReturnValue_t SerialComIF::handleNoncanonicalRead(UartCookie& uartCookie,
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UartDeviceMap::iterator& iter,
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size_t requestLen) {
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int fd = iter->second.fileDescriptor;
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auto bufferPtr = iter->second.replyBuffer.data();
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// Size check to prevent buffer overflow
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@ -501,9 +349,8 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
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return returnvalue::OK;
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}
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ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
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ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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@ -514,7 +361,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
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@ -532,9 +379,8 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
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return returnvalue::OK;
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}
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ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
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ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -543,7 +389,7 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter != uartDeviceMap.end()) {
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int fd = uartDeviceMapIter->second.fileDescriptor;
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tcflush(fd, TCIFLUSH);
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@ -552,9 +398,8 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
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return returnvalue::FAILED;
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}
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ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
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ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -563,7 +408,7 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter != uartDeviceMap.end()) {
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int fd = uartDeviceMapIter->second.fileDescriptor;
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tcflush(fd, TCOFLUSH);
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@ -572,9 +417,8 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
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return returnvalue::FAILED;
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}
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ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
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ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
@ -583,7 +427,7 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if (uartDeviceMapIter != uartDeviceMap.end()) {
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCIOFLUSH);
|
||||
@ -591,13 +435,3 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
|
||||
}
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
|
||||
UartModes uartMode = uartCookie.getUartMode();
|
||||
if (uartMode == UartModes::NON_CANONICAL) {
|
||||
/* Disable canonical mode */
|
||||
options->c_lflag &= ~ICANON;
|
||||
} else if (uartMode == UartModes::CANONICAL) {
|
||||
options->c_lflag |= ICANON;
|
||||
}
|
||||
}
|
@ -3,12 +3,12 @@
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw_hal/linux/serial/SerialCookie.h>
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
|
||||
#include "UartCookie.h"
|
||||
|
||||
/**
|
||||
* @brief This is the communication interface to access serial ports on linux based operating
|
||||
* systems.
|
||||
@ -18,7 +18,7 @@
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
class SerialComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
|
||||
|
||||
@ -26,9 +26,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
|
||||
static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
|
||||
|
||||
UartComIF(object_id_t objectId);
|
||||
SerialComIF(object_id_t objectId);
|
||||
|
||||
virtual ~UartComIF();
|
||||
virtual ~SerialComIF();
|
||||
|
||||
ReturnValue_t initializeInterface(CookieIF* cookie) override;
|
||||
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
|
||||
@ -62,7 +62,6 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
};
|
||||
|
||||
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
|
||||
using UartDeviceMapIter = UartDeviceMap::iterator;
|
||||
|
||||
/**
|
||||
* The uart devie map stores informations of initialized uart ports.
|
||||
@ -78,17 +77,6 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
*/
|
||||
int configureUartPort(UartCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This function adds the parity settings to the termios options struct.
|
||||
*
|
||||
* @param options Pointer to termios options struct which will be modified to enable or disable
|
||||
* parity checking.
|
||||
* @param uartCookie Pointer to uart cookie containing the information about the desired
|
||||
* parity settings.
|
||||
*
|
||||
*/
|
||||
void setParityOptions(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
/**
|
||||
@ -101,17 +89,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
*/
|
||||
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
|
||||
* struct.
|
||||
*/
|
||||
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
void setUartMode(struct termios* options, UartCookie& uartCookie);
|
||||
|
||||
ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
|
||||
ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter,
|
||||
size_t requestLen);
|
||||
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
|
||||
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter,
|
||||
size_t requestLen);
|
||||
};
|
||||
|
@ -1,9 +1,8 @@
|
||||
#include "UartCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface.h>
|
||||
#include <fsfw_hal/linux/serial/SerialCookie.h>
|
||||
|
||||
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
|
||||
UartBaudRate baudrate, size_t maxReplyLen)
|
||||
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
|
||||
size_t maxReplyLen, UartModes uartMode)
|
||||
: handlerId(handlerId),
|
||||
deviceFile(deviceFile),
|
||||
uartMode(uartMode),
|
@ -3,50 +3,10 @@
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
enum class Parity { NONE, EVEN, ODD };
|
||||
|
||||
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
|
||||
|
||||
enum class UartModes { CANONICAL, NON_CANONICAL };
|
||||
|
||||
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
|
||||
|
||||
enum class UartBaudRate {
|
||||
RATE_50,
|
||||
RATE_75,
|
||||
RATE_110,
|
||||
RATE_134,
|
||||
RATE_150,
|
||||
RATE_200,
|
||||
RATE_300,
|
||||
RATE_600,
|
||||
RATE_1200,
|
||||
RATE_1800,
|
||||
RATE_2400,
|
||||
RATE_4800,
|
||||
RATE_9600,
|
||||
RATE_19200,
|
||||
RATE_38400,
|
||||
RATE_57600,
|
||||
RATE_115200,
|
||||
RATE_230400,
|
||||
RATE_460800,
|
||||
RATE_500000,
|
||||
RATE_576000,
|
||||
RATE_921600,
|
||||
RATE_1000000,
|
||||
RATE_1152000,
|
||||
RATE_1500000,
|
||||
RATE_2000000,
|
||||
RATE_2500000,
|
||||
RATE_3000000,
|
||||
RATE_3500000,
|
||||
RATE_4000000
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
|
||||
* The constructor only requests for common options like the baudrate. Other options can
|
||||
@ -69,8 +29,8 @@ class UartCookie : public CookieIF {
|
||||
* 8 databits (number of bits transfered with one uart frame)
|
||||
* One stop bit
|
||||
*/
|
||||
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
|
||||
UartBaudRate baudrate, size_t maxReplyLen);
|
||||
UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
|
||||
size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
|
||||
|
||||
virtual ~UartCookie();
|
||||
|
163
src/fsfw_hal/linux/serial/helper.cpp
Normal file
163
src/fsfw_hal/linux/serial/helper.cpp
Normal file
@ -0,0 +1,163 @@
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
void uart::setMode(struct termios& options, UartModes mode) {
|
||||
if (mode == UartModes::NON_CANONICAL) {
|
||||
/* Disable canonical mode */
|
||||
options.c_lflag &= ~ICANON;
|
||||
} else if (mode == UartModes::CANONICAL) {
|
||||
options.c_lflag |= ICANON;
|
||||
}
|
||||
}
|
||||
|
||||
void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
|
||||
switch (baud) {
|
||||
case UartBaudRate::RATE_50:
|
||||
cfsetspeed(&options, B50);
|
||||
break;
|
||||
case UartBaudRate::RATE_75:
|
||||
cfsetspeed(&options, B75);
|
||||
break;
|
||||
case UartBaudRate::RATE_110:
|
||||
cfsetspeed(&options, B110);
|
||||
break;
|
||||
case UartBaudRate::RATE_134:
|
||||
cfsetspeed(&options, B134);
|
||||
break;
|
||||
case UartBaudRate::RATE_150:
|
||||
cfsetspeed(&options, B150);
|
||||
break;
|
||||
case UartBaudRate::RATE_200:
|
||||
cfsetspeed(&options, B200);
|
||||
break;
|
||||
case UartBaudRate::RATE_300:
|
||||
cfsetspeed(&options, B300);
|
||||
break;
|
||||
case UartBaudRate::RATE_600:
|
||||
cfsetspeed(&options, B600);
|
||||
break;
|
||||
case UartBaudRate::RATE_1200:
|
||||
cfsetspeed(&options, B1200);
|
||||
break;
|
||||
case UartBaudRate::RATE_1800:
|
||||
cfsetspeed(&options, B1800);
|
||||
break;
|
||||
case UartBaudRate::RATE_2400:
|
||||
cfsetspeed(&options, B2400);
|
||||
break;
|
||||
case UartBaudRate::RATE_4800:
|
||||
cfsetspeed(&options, B4800);
|
||||
break;
|
||||
case UartBaudRate::RATE_9600:
|
||||
cfsetspeed(&options, B9600);
|
||||
break;
|
||||
case UartBaudRate::RATE_19200:
|
||||
cfsetspeed(&options, B19200);
|
||||
break;
|
||||
case UartBaudRate::RATE_38400:
|
||||
cfsetspeed(&options, B38400);
|
||||
break;
|
||||
case UartBaudRate::RATE_57600:
|
||||
cfsetspeed(&options, B57600);
|
||||
break;
|
||||
case UartBaudRate::RATE_115200:
|
||||
cfsetspeed(&options, B115200);
|
||||
break;
|
||||
case UartBaudRate::RATE_230400:
|
||||
cfsetspeed(&options, B230400);
|
||||
break;
|
||||
#ifndef __APPLE__
|
||||
case UartBaudRate::RATE_460800:
|
||||
cfsetspeed(&options, B460800);
|
||||
break;
|
||||
case UartBaudRate::RATE_500000:
|
||||
cfsetspeed(&options, B500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_576000:
|
||||
cfsetspeed(&options, B576000);
|
||||
break;
|
||||
case UartBaudRate::RATE_921600:
|
||||
cfsetspeed(&options, B921600);
|
||||
break;
|
||||
case UartBaudRate::RATE_1000000:
|
||||
cfsetspeed(&options, B1000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_1152000:
|
||||
cfsetspeed(&options, B1152000);
|
||||
break;
|
||||
case UartBaudRate::RATE_1500000:
|
||||
cfsetspeed(&options, B1500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_2000000:
|
||||
cfsetspeed(&options, B2000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_2500000:
|
||||
cfsetspeed(&options, B2500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_3000000:
|
||||
cfsetspeed(&options, B3000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_3500000:
|
||||
cfsetspeed(&options, B3500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_4000000:
|
||||
cfsetspeed(&options, B4000000);
|
||||
break;
|
||||
#endif // ! __APPLE__
|
||||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void uart::setBitsPerWord(struct termios& options, BitsPerWord bits) {
|
||||
options.c_cflag &= ~CSIZE; // Clear all the size bits
|
||||
if (bits == BitsPerWord::BITS_5) {
|
||||
options.c_cflag |= CS5;
|
||||
} else if (bits == BitsPerWord::BITS_6) {
|
||||
options.c_cflag |= CS6;
|
||||
} else if (bits == BitsPerWord::BITS_7) {
|
||||
options.c_cflag |= CS7;
|
||||
} else if (bits == BitsPerWord::BITS_8) {
|
||||
options.c_cflag |= CS8;
|
||||
}
|
||||
}
|
||||
|
||||
void uart::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
|
||||
|
||||
void uart::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
|
||||
|
||||
void uart::setParity(struct termios& options, Parity parity) {
|
||||
/* Clear parity bit */
|
||||
options.c_cflag &= ~PARENB;
|
||||
switch (parity) {
|
||||
case Parity::EVEN:
|
||||
options.c_cflag |= PARENB;
|
||||
options.c_cflag &= ~PARODD;
|
||||
break;
|
||||
case Parity::ODD:
|
||||
options.c_cflag |= PARENB;
|
||||
options.c_cflag |= PARODD;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
|
||||
return ioctl(serialPort, TIOCGICOUNT, &icounter);
|
||||
}
|
||||
|
||||
void uart::setStopbits(struct termios& options, StopBits bits) {
|
||||
if (bits == StopBits::TWO_STOP_BITS) {
|
||||
// Use two stop bits
|
||||
options.c_cflag |= CSTOPB;
|
||||
} else {
|
||||
// Clear stop field, only one stop bit used in communication
|
||||
options.c_cflag &= ~CSTOPB;
|
||||
}
|
||||
}
|
71
src/fsfw_hal/linux/serial/helper.h
Normal file
71
src/fsfw_hal/linux/serial/helper.h
Normal file
@ -0,0 +1,71 @@
|
||||
#ifndef FSFW_HAL_LINUX_UART_HELPER_H_
|
||||
#define FSFW_HAL_LINUX_UART_HELPER_H_
|
||||
|
||||
#include <linux/serial.h>
|
||||
#include <termios.h>
|
||||
|
||||
enum class Parity { NONE, EVEN, ODD };
|
||||
|
||||
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
|
||||
|
||||
enum class UartModes { CANONICAL, NON_CANONICAL };
|
||||
|
||||
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
|
||||
|
||||
enum class UartBaudRate {
|
||||
RATE_50,
|
||||
RATE_75,
|
||||
RATE_110,
|
||||
RATE_134,
|
||||
RATE_150,
|
||||
RATE_200,
|
||||
RATE_300,
|
||||
RATE_600,
|
||||
RATE_1200,
|
||||
RATE_1800,
|
||||
RATE_2400,
|
||||
RATE_4800,
|
||||
RATE_9600,
|
||||
RATE_19200,
|
||||
RATE_38400,
|
||||
RATE_57600,
|
||||
RATE_115200,
|
||||
RATE_230400,
|
||||
RATE_460800,
|
||||
RATE_500000,
|
||||
RATE_576000,
|
||||
RATE_921600,
|
||||
RATE_1000000,
|
||||
RATE_1152000,
|
||||
RATE_1500000,
|
||||
RATE_2000000,
|
||||
RATE_2500000,
|
||||
RATE_3000000,
|
||||
RATE_3500000,
|
||||
RATE_4000000
|
||||
};
|
||||
|
||||
namespace uart {
|
||||
|
||||
void setMode(struct termios& options, UartModes mode);
|
||||
/**
|
||||
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
|
||||
* struct.
|
||||
*/
|
||||
void setBaudrate(struct termios& options, UartBaudRate baud);
|
||||
|
||||
void setStopbits(struct termios& options, StopBits bits);
|
||||
|
||||
void setBitsPerWord(struct termios& options, BitsPerWord bits);
|
||||
|
||||
void enableRead(struct termios& options);
|
||||
|
||||
void setParity(struct termios& options, Parity parity);
|
||||
|
||||
void ignoreCtrlLines(struct termios& options);
|
||||
|
||||
int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
|
||||
|
||||
} // namespace uart
|
||||
|
||||
#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */
|
@ -1 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp)
|
Loading…
Reference in New Issue
Block a user