deleted linux bsp arduino files
This commit is contained in:
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26ffc5a470
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#include "ArduinoCookie.h"
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#include "ArduinoComIF.h"
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#include <fsfw/globalfunctions/DleEncoder.h>
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <termios.h>
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ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
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const char *serialDevice) :
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spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
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MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
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initialized = false;
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serialPort = ::open("/dev/ttyUSB0", O_RDWR);
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if (serialPort < 0) {
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//configuration error
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printf("Error %i from open: %s\n", errno, strerror(errno));
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return;
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}
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struct termios tty;
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memset(&tty, 0, sizeof tty);
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// Read in existing settings, and handle any error
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if (tcgetattr(serialPort, &tty) != 0) {
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printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
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return;
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}
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tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
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tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
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tty.c_cflag |= CS8; // 8 bits per byte
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tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
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tty.c_lflag &= ~ICANON; //Disable Canonical Mode
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tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
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tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
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tty.c_cc[VTIME] = 0; // Non Blocking
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tty.c_cc[VMIN] = 0;
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cfsetispeed(&tty, B9600); //Baudrate
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if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
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//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
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return;
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}
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initialized = true;
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}
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ArduinoCommInterface::~ArduinoCommInterface() {
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::close(serialPort);
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}
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ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
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uint32_t maxReplyLen) {
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//This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
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switch ((address >> 8) & 0xff) {
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case 0:
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*cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
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spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
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break;
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
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uint32_t maxReplyLen) {
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//too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void ArduinoCommInterface::close(Cookie *cookie) {
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//too lazy as well, find the correct Map, delete it there, then the cookie...
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}
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ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
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uint32_t len) {
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ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
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if (arduinoCookie == NULL) {
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return INVALID_COOKIE_TYPE;
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}
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return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
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len);
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}
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ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
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return RETURN_OK;
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}
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ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
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return RETURN_OK;
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}
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ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
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uint8_t **buffer, uint32_t *size) {
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handleSerialPortRx();
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ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
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if (arduinoCookie == NULL) {
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return INVALID_COOKIE_TYPE;
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}
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*buffer = arduinoCookie->replyBuffer;
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*size = arduinoCookie->receivedDataLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
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uint32_t address) {
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//not implemented
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return RETURN_FAILED;
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}
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uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
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//not implemented
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return 0;
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}
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ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
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uint32_t parameter) {
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//not implemented
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return RETURN_FAILED;
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}
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uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
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//not implemented
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return 0;
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}
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ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
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uint8_t address, const uint8_t *data, size_t dataLen) {
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if (dataLen > UINT16_MAX) {
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return TOO_MUCH_DATA;
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}
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//being conservative here
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uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
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sendBuffer[0] = DleEncoder::STX;
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uint8_t *currentPosition = sendBuffer + 1;
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size_t remainingLen = sizeof(sendBuffer) - 1;
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uint32_t encodedLen;
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ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
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remainingLen, &encodedLen, false);
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if (result != RETURN_OK) {
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return result;
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}
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currentPosition += encodedLen;
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remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
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result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
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&encodedLen, false);
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if (result != RETURN_OK) {
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return result;
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}
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currentPosition += encodedLen;
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remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
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uint8_t temporaryBuffer[2];
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//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
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temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
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temporaryBuffer[1] = dataLen;
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result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
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remainingLen, &encodedLen, false);
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if (result != RETURN_OK) {
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return result;
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}
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currentPosition += encodedLen;
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remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
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//encoding the actual data
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result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
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&encodedLen, false);
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if (result != RETURN_OK) {
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return result;
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}
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currentPosition += encodedLen;
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remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
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uint16_t crc = CRC::crc16ccitt(&command, 1);
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crc = CRC::crc16ccitt(&address, 1, crc);
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//fortunately the length is still there
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crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
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crc = CRC::crc16ccitt(data, dataLen, crc);
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temporaryBuffer[0] = crc >> 8;
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temporaryBuffer[1] = crc;
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result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
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remainingLen, &encodedLen, false);
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if (result != RETURN_OK) {
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return result;
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}
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currentPosition += encodedLen;
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remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
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if (remainingLen > 0) {
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*currentPosition = DleEncoder::ETX;
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}
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remainingLen -= 1;
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encodedLen = sizeof(sendBuffer) - remainingLen;
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ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
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if (writtenlen < 0) {
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//we could try to find out what happened...
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return RETURN_FAILED;
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}
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if (writtenlen != encodedLen) {
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//the OS failed us, we do not try to block until everything is written, as
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//we can not block the whole system here
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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void ArduinoCommInterface::handleSerialPortRx() {
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uint32_t availableSpace = rxBuffer.availableWriteSpace();
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uint8_t dataFromSerial[availableSpace];
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ssize_t bytesRead = read(serialPort, dataFromSerial,
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sizeof(dataFromSerial));
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if (bytesRead < 0) {
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return;
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}
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rxBuffer.writeData(dataFromSerial, bytesRead);
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uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
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uint32_t dataLenReceivedSoFar = 0;
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rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
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&dataLenReceivedSoFar);
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//look for STX
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size_t firstSTXinRawData = 0;
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while ((firstSTXinRawData < dataLenReceivedSoFar)
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&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
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firstSTXinRawData++;
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}
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if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
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//there is no STX in our data, throw it away...
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rxBuffer.deleteData(dataLenReceivedSoFar);
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return;
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}
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uint8_t packet[MAX_PACKET_SIZE];
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uint32_t packetLen;
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uint32_t readSize;
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ReturnValue_t result = DleEncoder::decode(
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dataReceivedSoFar + firstSTXinRawData,
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dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
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sizeof(packet), &packetLen);
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size_t toDelete = firstSTXinRawData;
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if (result == HasReturnvaluesIF::RETURN_OK) {
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handlePacket(packet, packetLen);
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//after handling the packet, we can delete it from the raw stream, it has been copied to packet
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toDelete += readSize;
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}
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//remove Data which was processed
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rxBuffer.deleteData(toDelete);
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}
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void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) {
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uint16_t crc = CRC::crc16ccitt(packet, packetLen);
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if (crc != 0) {
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//CRC error
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return;
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}
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uint8_t command = packet[0];
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uint8_t address = packet[1];
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uint16_t size = (packet[2] << 8) + packet[3];
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if (size != packetLen - 6) {
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//Invalid Length
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return;
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}
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switch (command) {
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case ArduinoCookie::SPI: {
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ArduinoCookie **itsComplicated;
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ReturnValue_t result = spiMap.find(address, &itsComplicated);
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if (result != RETURN_OK) {
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//we do no know this address
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return;
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}
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ArduinoCookie *theActualCookie = *itsComplicated;
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if (packetLen > theActualCookie->maxReplySize + 6) {
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packetLen = theActualCookie->maxReplySize + 6;
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}
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memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6);
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theActualCookie->receivedDataLen = packetLen - 6;
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}
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break;
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default:
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return;
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}
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}
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@ -1,73 +0,0 @@
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//#ifndef MISSION_ARDUINOCOMMINTERFACE_H_
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//#define MISSION_ARDUINOCOMMINTERFACE_H_
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//
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//#include <bits/stdint-uintn.h>
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//#include <framework/container/FixedMap.h>
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//#include <framework/container/SimpleRingBuffer.h>
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//#include <framework/devicehandlers/DeviceCommunicationIF.h>
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//#include <framework/returnvalues/HasReturnvaluesIF.h>
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//#include <stddef.h>
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//
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//#include "../../framework/objectmanager/SystemObject.h"
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//#include "ArduinoCookie.h"
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//
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////Forward declaration, so users don't peek
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//class ArduinoCookie;
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//
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//class ArduinoComIF: public SystemObject,
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// public DeviceCommunicationIF {
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//public:
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// static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
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// static const uint8_t MAX_PACKET_SIZE = 64;
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//
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// static const uint8_t COMMAND_INVALID = -1;
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// static const uint8_t COMMAND_SPI = 1;
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//
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// ArduinoComIF(object_id_t setObjectId, const char *serialDevice);
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// virtual ~ArduinoComIF();
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//
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// virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
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// uint32_t maxReplyLen);
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//
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// virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
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// uint32_t maxReplyLen);
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//
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// virtual void close(Cookie *cookie);
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//
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// //SHOULDDO can data be const?
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// virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
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// uint32_t len);
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//
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// virtual ReturnValue_t getSendSuccess(Cookie *cookie);
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//
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// virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
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//
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// virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
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// uint32_t *size);
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//
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// virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
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//
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// virtual uint32_t getAddress(Cookie *cookie);
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//
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// virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
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//
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// virtual uint32_t getParameter(Cookie *cookie);
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//private:
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// //remembering if the initialization in the ctor worked
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// //if not, all calls are disabled
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// bool initialized;
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// int serialPort;
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// //used to know where to put the data if a reply is received
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// FixedMap<uint8_t, ArduinoCookie*> spiMap;
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//
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|
||||||
// SimpleRingBuffer rxBuffer;
|
|
||||||
//
|
|
||||||
// ReturnValue_t sendMessage(uint8_t command, uint8_t address,
|
|
||||||
// const uint8_t *data, size_t dataLen);
|
|
||||||
//
|
|
||||||
// void handleSerialPortRx();
|
|
||||||
//
|
|
||||||
// void handlePacket(uint8_t *packet, size_t packetLen);
|
|
||||||
//};
|
|
||||||
//
|
|
||||||
//#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */
|
|
||||||
@ -1,12 +0,0 @@
|
|||||||
//#include <mission/Arduino/ArduinoCookie.h>
|
|
||||||
//
|
|
||||||
//ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
|
|
||||||
// size_t maxReplySize) :
|
|
||||||
// command(protocol), address(address), receivedDataLen(0), maxReplySize(
|
|
||||||
// maxReplySize) {
|
|
||||||
// replyBuffer = new uint8_t[maxReplySize];
|
|
||||||
//}
|
|
||||||
//
|
|
||||||
//ArduinoCookie::~ArduinoCookie() {
|
|
||||||
// delete[] replyBuffer;
|
|
||||||
//}
|
|
||||||
@ -1,25 +0,0 @@
|
|||||||
//#ifndef MISSION_ARDUINO_ARDUINOCOOKIE_H_
|
|
||||||
//#define MISSION_ARDUINO_ARDUINOCOOKIE_H_
|
|
||||||
//
|
|
||||||
//#include <framework/devicehandlers/Cookie.h>
|
|
||||||
//
|
|
||||||
//#include <stdint.h>
|
|
||||||
//#include <stdlib.h>
|
|
||||||
//
|
|
||||||
//class ArduinoCookie: public Cookie {
|
|
||||||
//public:
|
|
||||||
// enum Protocol_t {
|
|
||||||
// INVALID = 0, SPI = 1
|
|
||||||
// };
|
|
||||||
// ArduinoCookie(Protocol_t protocol, uint8_t address, size_t maxReplySize);
|
|
||||||
// virtual ~ArduinoCookie();
|
|
||||||
//
|
|
||||||
// uint8_t command;
|
|
||||||
// uint8_t address;
|
|
||||||
// uint8_t *replyBuffer;
|
|
||||||
// size_t receivedDataLen;
|
|
||||||
// size_t maxReplySize;
|
|
||||||
//
|
|
||||||
//};
|
|
||||||
//
|
|
||||||
//#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */
|
|
||||||
Loading…
Reference in New Issue
Block a user