deleted linux bsp arduino files
This commit is contained in:
parent
ad79ea46fd
commit
8a91401c52
@ -1,324 +0,0 @@
|
||||
#include "ArduinoCookie.h"
|
||||
#include "ArduinoComIF.h"
|
||||
|
||||
#include <fsfw/globalfunctions/DleEncoder.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <fsfw/globalfunctions/CRC.h>
|
||||
|
||||
#include <termios.h>
|
||||
|
||||
ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
|
||||
const char *serialDevice) :
|
||||
spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
|
||||
MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
|
||||
initialized = false;
|
||||
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
|
||||
|
||||
if (serialPort < 0) {
|
||||
//configuration error
|
||||
printf("Error %i from open: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
|
||||
struct termios tty;
|
||||
memset(&tty, 0, sizeof tty);
|
||||
|
||||
// Read in existing settings, and handle any error
|
||||
if (tcgetattr(serialPort, &tty) != 0) {
|
||||
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
|
||||
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
|
||||
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
|
||||
tty.c_cflag |= CS8; // 8 bits per byte
|
||||
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
|
||||
tty.c_lflag &= ~ICANON; //Disable Canonical Mode
|
||||
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
|
||||
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
|
||||
tty.c_cc[VTIME] = 0; // Non Blocking
|
||||
tty.c_cc[VMIN] = 0;
|
||||
|
||||
cfsetispeed(&tty, B9600); //Baudrate
|
||||
|
||||
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
|
||||
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
|
||||
initialized = true;
|
||||
|
||||
}
|
||||
|
||||
ArduinoCommInterface::~ArduinoCommInterface() {
|
||||
::close(serialPort);
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
|
||||
uint32_t maxReplyLen) {
|
||||
//This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
|
||||
switch ((address >> 8) & 0xff) {
|
||||
case 0:
|
||||
*cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
|
||||
spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
|
||||
break;
|
||||
default:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
|
||||
uint32_t maxReplyLen) {
|
||||
//too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
void ArduinoCommInterface::close(Cookie *cookie) {
|
||||
//too lazy as well, find the correct Map, delete it there, then the cookie...
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
|
||||
uint32_t len) {
|
||||
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
|
||||
if (arduinoCookie == NULL) {
|
||||
return INVALID_COOKIE_TYPE;
|
||||
}
|
||||
|
||||
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
|
||||
len);
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
|
||||
uint8_t **buffer, uint32_t *size) {
|
||||
|
||||
handleSerialPortRx();
|
||||
|
||||
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
|
||||
if (arduinoCookie == NULL) {
|
||||
return INVALID_COOKIE_TYPE;
|
||||
}
|
||||
|
||||
*buffer = arduinoCookie->replyBuffer;
|
||||
*size = arduinoCookie->receivedDataLen;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
|
||||
uint32_t address) {
|
||||
//not implemented
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
|
||||
//not implemented
|
||||
return 0;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
|
||||
uint32_t parameter) {
|
||||
//not implemented
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
|
||||
//not implemented
|
||||
return 0;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
|
||||
uint8_t address, const uint8_t *data, size_t dataLen) {
|
||||
if (dataLen > UINT16_MAX) {
|
||||
return TOO_MUCH_DATA;
|
||||
}
|
||||
|
||||
//being conservative here
|
||||
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
|
||||
|
||||
sendBuffer[0] = DleEncoder::STX;
|
||||
|
||||
uint8_t *currentPosition = sendBuffer + 1;
|
||||
size_t remainingLen = sizeof(sendBuffer) - 1;
|
||||
uint32_t encodedLen;
|
||||
|
||||
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
|
||||
remainingLen, &encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
|
||||
&encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
uint8_t temporaryBuffer[2];
|
||||
|
||||
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
|
||||
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
|
||||
temporaryBuffer[1] = dataLen;
|
||||
|
||||
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
|
||||
remainingLen, &encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
//encoding the actual data
|
||||
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
|
||||
&encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
uint16_t crc = CRC::crc16ccitt(&command, 1);
|
||||
crc = CRC::crc16ccitt(&address, 1, crc);
|
||||
//fortunately the length is still there
|
||||
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
|
||||
crc = CRC::crc16ccitt(data, dataLen, crc);
|
||||
|
||||
temporaryBuffer[0] = crc >> 8;
|
||||
temporaryBuffer[1] = crc;
|
||||
|
||||
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
|
||||
remainingLen, &encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
if (remainingLen > 0) {
|
||||
*currentPosition = DleEncoder::ETX;
|
||||
}
|
||||
remainingLen -= 1;
|
||||
|
||||
encodedLen = sizeof(sendBuffer) - remainingLen;
|
||||
|
||||
ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
|
||||
if (writtenlen < 0) {
|
||||
//we could try to find out what happened...
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
if (writtenlen != encodedLen) {
|
||||
//the OS failed us, we do not try to block until everything is written, as
|
||||
//we can not block the whole system here
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void ArduinoCommInterface::handleSerialPortRx() {
|
||||
uint32_t availableSpace = rxBuffer.availableWriteSpace();
|
||||
|
||||
uint8_t dataFromSerial[availableSpace];
|
||||
|
||||
ssize_t bytesRead = read(serialPort, dataFromSerial,
|
||||
sizeof(dataFromSerial));
|
||||
|
||||
if (bytesRead < 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
rxBuffer.writeData(dataFromSerial, bytesRead);
|
||||
|
||||
uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
|
||||
|
||||
uint32_t dataLenReceivedSoFar = 0;
|
||||
|
||||
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
|
||||
&dataLenReceivedSoFar);
|
||||
|
||||
//look for STX
|
||||
size_t firstSTXinRawData = 0;
|
||||
while ((firstSTXinRawData < dataLenReceivedSoFar)
|
||||
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
|
||||
firstSTXinRawData++;
|
||||
}
|
||||
|
||||
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
|
||||
//there is no STX in our data, throw it away...
|
||||
rxBuffer.deleteData(dataLenReceivedSoFar);
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t packet[MAX_PACKET_SIZE];
|
||||
uint32_t packetLen;
|
||||
|
||||
uint32_t readSize;
|
||||
|
||||
ReturnValue_t result = DleEncoder::decode(
|
||||
dataReceivedSoFar + firstSTXinRawData,
|
||||
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
|
||||
sizeof(packet), &packetLen);
|
||||
|
||||
size_t toDelete = firstSTXinRawData;
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
handlePacket(packet, packetLen);
|
||||
|
||||
//after handling the packet, we can delete it from the raw stream, it has been copied to packet
|
||||
toDelete += readSize;
|
||||
}
|
||||
|
||||
//remove Data which was processed
|
||||
rxBuffer.deleteData(toDelete);
|
||||
}
|
||||
|
||||
void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) {
|
||||
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
|
||||
if (crc != 0) {
|
||||
//CRC error
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t command = packet[0];
|
||||
uint8_t address = packet[1];
|
||||
|
||||
uint16_t size = (packet[2] << 8) + packet[3];
|
||||
|
||||
if (size != packetLen - 6) {
|
||||
//Invalid Length
|
||||
return;
|
||||
}
|
||||
|
||||
switch (command) {
|
||||
case ArduinoCookie::SPI: {
|
||||
ArduinoCookie **itsComplicated;
|
||||
ReturnValue_t result = spiMap.find(address, &itsComplicated);
|
||||
if (result != RETURN_OK) {
|
||||
//we do no know this address
|
||||
return;
|
||||
}
|
||||
ArduinoCookie *theActualCookie = *itsComplicated;
|
||||
if (packetLen > theActualCookie->maxReplySize + 6) {
|
||||
packetLen = theActualCookie->maxReplySize + 6;
|
||||
}
|
||||
memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6);
|
||||
theActualCookie->receivedDataLen = packetLen - 6;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
return;
|
||||
}
|
||||
}
|
||||
@ -1,73 +0,0 @@
|
||||
//#ifndef MISSION_ARDUINOCOMMINTERFACE_H_
|
||||
//#define MISSION_ARDUINOCOMMINTERFACE_H_
|
||||
//
|
||||
//#include <bits/stdint-uintn.h>
|
||||
//#include <framework/container/FixedMap.h>
|
||||
//#include <framework/container/SimpleRingBuffer.h>
|
||||
//#include <framework/devicehandlers/DeviceCommunicationIF.h>
|
||||
//#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
//#include <stddef.h>
|
||||
//
|
||||
//#include "../../framework/objectmanager/SystemObject.h"
|
||||
//#include "ArduinoCookie.h"
|
||||
//
|
||||
////Forward declaration, so users don't peek
|
||||
//class ArduinoCookie;
|
||||
//
|
||||
//class ArduinoComIF: public SystemObject,
|
||||
// public DeviceCommunicationIF {
|
||||
//public:
|
||||
// static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
|
||||
// static const uint8_t MAX_PACKET_SIZE = 64;
|
||||
//
|
||||
// static const uint8_t COMMAND_INVALID = -1;
|
||||
// static const uint8_t COMMAND_SPI = 1;
|
||||
//
|
||||
// ArduinoComIF(object_id_t setObjectId, const char *serialDevice);
|
||||
// virtual ~ArduinoComIF();
|
||||
//
|
||||
// virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
|
||||
// uint32_t maxReplyLen);
|
||||
//
|
||||
// virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
|
||||
// uint32_t maxReplyLen);
|
||||
//
|
||||
// virtual void close(Cookie *cookie);
|
||||
//
|
||||
// //SHOULDDO can data be const?
|
||||
// virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
|
||||
// uint32_t len);
|
||||
//
|
||||
// virtual ReturnValue_t getSendSuccess(Cookie *cookie);
|
||||
//
|
||||
// virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
|
||||
//
|
||||
// virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
|
||||
// uint32_t *size);
|
||||
//
|
||||
// virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
|
||||
//
|
||||
// virtual uint32_t getAddress(Cookie *cookie);
|
||||
//
|
||||
// virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
|
||||
//
|
||||
// virtual uint32_t getParameter(Cookie *cookie);
|
||||
//private:
|
||||
// //remembering if the initialization in the ctor worked
|
||||
// //if not, all calls are disabled
|
||||
// bool initialized;
|
||||
// int serialPort;
|
||||
// //used to know where to put the data if a reply is received
|
||||
// FixedMap<uint8_t, ArduinoCookie*> spiMap;
|
||||
//
|
||||
// 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