Robin Mueller
aa2bfb7d0e
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EIVE/eive-obsw/pipeline/pr-main This commit looks good
127 lines
3.9 KiB
C++
127 lines
3.9 KiB
C++
#include "SerialCommunicationHelper.h"
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#include <errno.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <unistd.h>
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#include <cstring>
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw_hal/linux/serial/helper.h"
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SerialCommunicationHelper::SerialCommunicationHelper(SerialConfig cfg) : cfg(cfg) {}
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ReturnValue_t SerialCommunicationHelper::initialize() {
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fd = configureUartPort();
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if (fd < 0) {
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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int SerialCommunicationHelper::rawFd() const { return fd; }
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ReturnValue_t SerialCommunicationHelper::send(const uint8_t* data, size_t dataLen) {
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if (write(fd, data, dataLen) != static_cast<int>(dataLen)) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
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<< ": Error description: " << strerror(errno) << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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int SerialCommunicationHelper::configureUartPort() {
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struct termios options = {};
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int flags = O_RDWR;
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if (cfg.getUartMode() == UartModes::CANONICAL) {
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// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
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// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
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flags |= O_NONBLOCK;
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}
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int fd = open(cfg.getDeviceFile().c_str(), flags);
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if (fd < 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to open uart "
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<< cfg.getDeviceFile().c_str()
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<< "with error code " << errno << strerror(errno) << std::endl;
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#endif
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return fd;
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}
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/* Read in existing settings */
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if (tcgetattr(fd, &options) != 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Error " << errno
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<< "from tcgetattr: " << strerror(errno) << std::endl;
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#endif
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return fd;
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}
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serial::setParity(options, cfg.getParity());
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serial::setStopbits(options, cfg.getStopBits());
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serial::setBitsPerWord(options, cfg.getBitsPerWord());
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setFixedOptions(&options);
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serial::setMode(options, cfg.getUartMode());
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tcflush(fd, TCIFLUSH);
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/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
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options.c_cc[VTIME] = 0;
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options.c_cc[VMIN] = 0;
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serial::setBaudrate(options, cfg.getBaudrate());
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/* Save option settings */
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
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<< ": " << strerror(errno);
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#endif
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return fd;
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}
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return fd;
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}
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void SerialCommunicationHelper::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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options->c_cflag |= CREAD | CLOCAL;
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/* Disable echo */
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options->c_lflag &= ~ECHO;
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/* Disable erasure */
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options->c_lflag &= ~ECHOE;
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/* Disable new-line echo */
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options->c_lflag &= ~ECHONL;
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/* Disable interpretation of INTR, QUIT and SUSP */
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options->c_lflag &= ~ISIG;
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/* Turn off s/w flow ctrl */
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options->c_iflag &= ~(IXON | IXOFF | IXANY);
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/* Disable any special handling of received bytes */
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options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
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/* Prevent special interpretation of output bytes (e.g. newline chars) */
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options->c_oflag &= ~OPOST;
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/* Prevent conversion of newline to carriage return/line feed */
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options->c_oflag &= ~ONLCR;
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}
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ReturnValue_t SerialCommunicationHelper::flushUartRxBuffer() {
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serial::flushRxBuf(fd);
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return returnvalue::OK;
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}
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ReturnValue_t SerialCommunicationHelper::flushUartTxBuffer() {
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serial::flushTxBuf(fd);
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return returnvalue::OK;
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}
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ReturnValue_t SerialCommunicationHelper::flushUartTxAndRxBuf() {
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serial::flushTxRxBuf(fd);
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return returnvalue::OK;
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}
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