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extended uart com if with canonical mode

This commit is contained in:
Robin Müller 2021-06-15 13:32:37 +02:00
parent cd0dfc49d5
commit cd9c9647ec
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GPG Key ID: 9C287E88FED11DF3
6 changed files with 86 additions and 49 deletions
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2
linux/gpio/LinuxLibgpioIF.h
View File

@ -17,7 +17,7 @@ class GpioCookie;
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);

2
linux/spi/SpiComIF.h
View File

@ -22,7 +22,7 @@ class SpiCookie;
*/
class SpiComIF: public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t spiRetvalId = CLASS_ID::LINUX_SPI_COM_IF;
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
/* Full duplex (ioctl) transfer failure */

78
linux/uart/UartComIF.cpp
View File

@ -37,17 +37,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
return RETURN_FAILED;
}
size_t maxReplyLen = uartCookie->getMaxReplyLen();
UartElements_t uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
sif::debug << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
<< "to UART device map" << std::endl;
sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
deviceFile << "to UART device map" << std::endl;
return RETURN_FAILED;
}
}
else {
sif::debug << "UartComIF::initializeInterface: UART device " << deviceFile << " already in "
<< "use" << std::endl;
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
" already in use" << std::endl;
return RETURN_FAILED;
}
@ -62,14 +62,14 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
int fd = open(deviceFile.c_str(), O_RDWR);
if (fd < 0) {
sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with"
<< " error code " << errno << strerror(errno) << std::endl;
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
"with error code " << errno << strerror(errno) << std::endl;
return fd;
}
/* Read in existing settings */
if(tcgetattr(fd, &options) != 0) {
sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
return fd;
}
@ -87,8 +87,8 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
errno << ": " << strerror(errno);
return fd;
}
return fd;
@ -140,7 +140,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
options->c_cflag |= CS8;
break;
default:
sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
break;
}
}
@ -150,8 +150,6 @@ void UartComIF::setFixedOptions(struct termios* options) {
options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
options->c_cflag |= CREAD | CLOCAL;
/* Disable canonical mode */
options->c_lflag &= ~ICANON;
/* Disable echo */
options->c_lflag &= ~ECHO;
/* Disable erasure */
@ -272,23 +270,23 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl;
sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map"
<< std::endl;
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
"not in UART map" << std::endl;
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) {
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
errno << ": Error description: " << strerror(errno) << std::endl;
return RETURN_FAILED;
}
@ -299,9 +297,7 @@ ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
@ -317,6 +313,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
return NULLPOINTER;
}
UartModes uartMode = uartCookie->getUartMode();
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
@ -327,16 +324,24 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
fd = uartDeviceMapIter->second.fileDescriptor;
bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead != static_cast<int>(requestLen)) {
sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead
<< " of " << requestLen << " bytes" << std::endl;
return RETURN_FAILED;
}
else {
if (uartMode == UartModes::CANONICAL) {
int bytesRead = read(fd, bufferPtr, uartCookie->getMaxReplyLen());
uartDeviceMapIter->second.replyLen = bytesRead;
}
else if (uartMode == UartModes::NON_CANONICAL) {
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead < 0) {
return RETURN_FAILED;
}
else if (bytesRead != static_cast<int>(requestLen)) {
sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
" of " << requestLen << " bytes" << std::endl;
return RETURN_FAILED;
}
else {
uartDeviceMapIter->second.replyLen = bytesRead;
}
}
return RETURN_OK;
}
@ -355,8 +360,8 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
" not in uart map" << std::endl;
return RETURN_FAILED;
}
@ -368,3 +373,14 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
return RETURN_OK;
}
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;
}
}

15
linux/uart/UartComIF.h
View File

@ -20,6 +20,13 @@
*/
class UartComIF: public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
static constexpr ReturnValue_t UART_READ_FAILURE =
HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
UartComIF(object_id_t objectId);
virtual ~UartComIF();
@ -37,14 +44,14 @@ private:
using UartDeviceFile_t = std::string;
typedef struct UartElements {
struct UartElements {
int fileDescriptor;
std::vector<uint8_t> replyBuffer;
/** Number of bytes read will be written to this variable */
size_t replyLen;
} UartElements_t;
};
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements_t>;
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
using UartDeviceMapIter = UartDeviceMap::iterator;
/**
@ -89,6 +96,8 @@ private:
* struct.
*/
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
void setUartMode(struct termios* options, UartCookie& uartCookie);
};
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

9
linux/uart/UartCookie.cpp
View File

@ -2,8 +2,9 @@
#include <fsfw/serviceinterface/ServiceInterface.h>
UartCookie::UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen) :
deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen) {
UartCookie::UartCookie(std::string deviceFile, UartModes uartMode, uint32_t baudrate,
size_t maxReplyLen) :
deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate), maxReplyLen(maxReplyLen) {
}
UartCookie::~UartCookie() {}
@ -61,3 +62,7 @@ void UartCookie::setTwoStopBits() {
void UartCookie::setOneStopBit() {
stopBits = StopBits::ONE_STOP_BIT;
}
UartModes UartCookie::getUartMode() const {
return uartMode;
}

29
linux/uart/UartCookie.h
View File

@ -15,8 +15,13 @@ enum class StopBits {
TWO_STOP_BITS
};
enum class UartModes {
CANONICAL,
NON_CANONICAL
};
/**
* @brief Cookie for the UartComIF. There are many options available to configure the uart driver.
* @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
* be set by member functions.
*
@ -27,19 +32,20 @@ public:
/**
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use. E.g. "/dev/ttyPS1".
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
* @param uartMode Specify the UART mode. The canonical mode should be used if the
* messages are separated by a delimited character like '\n'. See the
* termios documentation for more information
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
* 38400, 57600, 115200, 230400, 460800
* @param maxReplyLen The maximum size an object using this cookie expects.
*
* @details Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*
*
* @param maxReplyLen The maximum size an object using this cookie expects
* @details
* Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*/
UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen);
UartCookie(std::string deviceFile, UartModes uartMode, uint32_t baudrate, size_t maxReplyLen);
virtual ~UartCookie();
@ -49,6 +55,7 @@ public:
Parity getParity() const;
uint8_t getBitsPerWord() const;
StopBits getStopBits() const;
UartModes getUartMode() const;
/**
* Functions two enable parity checking.
@ -67,10 +74,10 @@ public:
void setTwoStopBits();
void setOneStopBit();
private:
std::string deviceFile;
const UartModes uartMode;
uint32_t baudrate;
size_t maxReplyLen = 0;
Parity parity = Parity::NONE;