Spi COM IF update #7
@ -9,4 +9,5 @@ target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
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add_subdirectory(gpio)
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add_subdirectory(spi)
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add_subdirectory(i2c)
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add_subdirectory(i2c)
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add_subdirectory(uart)
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8
linux/uart/CMakeLists.txt
Normal file
8
linux/uart/CMakeLists.txt
Normal file
@ -0,0 +1,8 @@
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target_sources(${TARGET_NAME} PUBLIC
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UartComIF.cpp
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UartCookie.cpp
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)
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370
linux/uart/UartComIF.cpp
Normal file
370
linux/uart/UartComIF.cpp
Normal file
@ -0,0 +1,370 @@
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#include "UartComIF.h"
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <cstring>
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#include <fcntl.h>
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#include <errno.h>
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#include <termios.h>
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#include <unistd.h>
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UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
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}
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UartComIF::~UartComIF() {}
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ReturnValue_t UartComIF::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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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
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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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if(uartDeviceMapIter == uartDeviceMap.end()) {
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int fileDescriptor = configureUartPort(uartCookie);
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if (fileDescriptor < 0) {
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return RETURN_FAILED;
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}
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size_t maxReplyLen = uartCookie->getMaxReplyLen();
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UartElements_t uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
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std::pair status = uartDeviceMap.emplace(deviceFile, uartElements);
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if (status.second == false) {
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sif::debug << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
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<< "to Uart device map" << std::endl;
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return RETURN_FAILED;
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}
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}
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else {
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sif::debug << "UartComIF::initializeInterface: Uart device " << deviceFile << "already in "
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<< "use" << std::endl;
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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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int UartComIF::configureUartPort(UartCookie* uartCookie) {
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struct termios options;
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std::string deviceFile = uartCookie->getDeviceFile();
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int fd = open(deviceFile.c_str(), O_RDWR);
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if (fd < 0) {
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sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with"
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<< " error code " << errno << strerror(errno) << std::endl;
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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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sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
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<< strerror(errno) << std::endl;
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return fd;
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}
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setParityOptions(&options, uartCookie);
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setStopBitOptions(&options, uartCookie);
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setDatasizeOptions(&options, uartCookie);
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setFixedOptions(&options);
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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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configureBaudrate(&options, uartCookie);
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/* Save option settings */
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno
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<< ": " << strerror(errno);
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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 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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/* 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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case StopBits::TWO_STOP_BITS:
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options->c_cflag |= CSTOPB;
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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::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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case 5:
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options->c_cflag |= CS5;
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break;
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case 6:
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options->c_cflag |= CS6;
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break;
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case 7:
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options->c_cflag |= CS7;
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break;
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case 8:
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options->c_cflag |= CS8;
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break;
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default:
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sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
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break;
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}
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}
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void UartComIF::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 canonical mode */
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options->c_lflag &= ~ICANON;
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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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void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
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switch (uartCookie->getBaudrate()) {
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case 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 230400:
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cfsetispeed(options, B230400);
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cfsetospeed(options, B230400);
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break;
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case 460800:
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cfsetispeed(options, B460800);
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cfsetospeed(options, B460800);
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break;
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default:
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sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
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break;
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}
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}
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ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
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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(sendData == nullptr) {
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sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
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return RETURN_FAILED;
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}
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if(sendLen == 0) {
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return RETURN_OK;
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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if(uartCookie == nullptr) {
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sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl;
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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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if (uartDeviceMapIter == uartDeviceMap.end()) {
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sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map"
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<< std::endl;
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return RETURN_FAILED;
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}
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fd = uartDeviceMapIter->second.fileDescriptor;
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if (write(fd, sendData, sendLen) != (int)sendLen) {
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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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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
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return RETURN_OK;
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}
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ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) {
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int fd = 0;
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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uint8_t* bufferPtr;
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if(requestLen == 0) {
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return RETURN_OK;
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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if(uartCookie == nullptr) {
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sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
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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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if (uartDeviceMapIter == uartDeviceMap.end()) {
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sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
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<< " not in uart map" << std::endl;
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return RETURN_FAILED;
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}
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fd = uartDeviceMapIter->second.fileDescriptor;
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bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
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int bytesRead = read(fd, bufferPtr, requestLen);
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if (bytesRead != static_cast<int>(requestLen)) {
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sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead
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<< " of " << requestLen << " bytes" << std::endl;
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return RETURN_FAILED;
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}
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else {
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uartDeviceMapIter->second.replyLen = bytesRead;
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}
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return RETURN_OK;
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}
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ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
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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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sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
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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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if (uartDeviceMapIter == uartDeviceMap.end()) {
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sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile
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<< " not in uart map" << std::endl;
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return RETURN_FAILED;
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}
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*buffer = uartDeviceMapIter->second.replyBuffer.data();
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*size = uartDeviceMapIter->second.replyLen;
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/* Length is reset to 0 to prevent reading the same data twice */
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uartDeviceMapIter->second.replyLen = 0;
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return RETURN_OK;
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}
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94
linux/uart/UartComIF.h
Normal file
94
linux/uart/UartComIF.h
Normal file
@ -0,0 +1,94 @@
|
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#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
|
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#define BSP_Q7S_COMIF_UARTCOMIF_H_
|
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|
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#include <fsfw/objectmanager/SystemObject.h>
|
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
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#include <unordered_map>
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#include <vector>
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#include "UartCookie.h"
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|
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/**
|
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* @brief This is the communication interface to access serial ports on linux based operating
|
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* systems.
|
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*
|
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* @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
|
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* operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
|
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*
|
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* @author J. Meier
|
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*/
|
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class UartComIF: public DeviceCommunicationIF, public SystemObject {
|
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public:
|
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UartComIF(object_id_t objectId);
|
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|
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virtual ~UartComIF();
|
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|
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ReturnValue_t initializeInterface(CookieIF * cookie) override;
|
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ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
|
||||
size_t sendLen) override;
|
||||
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
||||
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
|
||||
size_t requestLen) override;
|
||||
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
|
||||
size_t *size) override;
|
||||
|
||||
private:
|
||||
|
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using UartDeviceFile_t = std::string;
|
||||
|
||||
typedef 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 UartDeviceMapIter = UartDeviceMap::iterator;
|
||||
|
||||
/**
|
||||
* The uart devie map stores informations of initialized uart ports.
|
||||
*/
|
||||
UartDeviceMap uartDeviceMap;
|
||||
|
||||
/**
|
||||
* @brief This function opens and configures a uart device by using the information stored
|
||||
* in the uart cookie.
|
||||
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the
|
||||
* uart device file, baudrate, parity, stopbits etc.
|
||||
* @return The file descriptor of the configured uart.
|
||||
*/
|
||||
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);
|
||||
|
||||
/**
|
||||
* @brief This function sets options which are not configurable by the uartCookie.
|
||||
*/
|
||||
void setFixedOptions(struct termios* options);
|
||||
|
||||
/**
|
||||
* @brief With this function the datasize settings are added to the termios options struct.
|
||||
*/
|
||||
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);
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */
|
||||
63
linux/uart/UartCookie.cpp
Normal file
63
linux/uart/UartCookie.cpp
Normal file
@ -0,0 +1,63 @@
|
||||
#include "UartCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
UartCookie::UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen) :
|
||||
deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen) {
|
||||
}
|
||||
|
||||
UartCookie::~UartCookie() {}
|
||||
|
||||
uint32_t UartCookie::getBaudrate() const {
|
||||
return baudrate;
|
||||
}
|
||||
|
||||
size_t UartCookie::getMaxReplyLen() const {
|
||||
return maxReplyLen;
|
||||
}
|
||||
|
||||
std::string UartCookie::getDeviceFile() const {
|
||||
return deviceFile;
|
||||
}
|
||||
|
||||
void UartCookie::setParityOdd() {
|
||||
parity = Parity::ODD;
|
||||
}
|
||||
|
||||
void UartCookie::setParityEven() {
|
||||
parity = Parity::EVEN;
|
||||
}
|
||||
|
||||
Parity UartCookie::getParity() const {
|
||||
return parity;
|
||||
}
|
||||
|
||||
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
|
||||
switch(bitsPerWord_) {
|
||||
case 5:
|
||||
case 6:
|
||||
case 7:
|
||||
case 8:
|
||||
break;
|
||||
default:
|
||||
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
|
||||
return;
|
||||
}
|
||||
bitsPerWord = bitsPerWord_;
|
||||
}
|
||||
|
||||
uint8_t UartCookie::getBitsPerWord() const {
|
||||
return bitsPerWord;
|
||||
}
|
||||
|
||||
StopBits UartCookie::getStopBits() const {
|
||||
return stopBits;
|
||||
}
|
||||
|
||||
void UartCookie::setTwoStopBits() {
|
||||
stopBits = StopBits::TWO_STOP_BITS;
|
||||
}
|
||||
|
||||
void UartCookie::setOneStopBit() {
|
||||
stopBits = StopBits::ONE_STOP_BIT;
|
||||
}
|
||||
81
linux/uart/UartCookie.h
Normal file
81
linux/uart/UartCookie.h
Normal file
@ -0,0 +1,81 @@
|
||||
#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
|
||||
#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <string>
|
||||
|
||||
enum class Parity {
|
||||
NONE,
|
||||
EVEN,
|
||||
ODD
|
||||
};
|
||||
|
||||
enum class StopBits {
|
||||
ONE_STOP_BIT,
|
||||
TWO_STOP_BITS
|
||||
};
|
||||
|
||||
/**
|
||||
* @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.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class UartCookie: public CookieIF {
|
||||
public:
|
||||
|
||||
/**
|
||||
* @brief Constructor for the uart cookie.
|
||||
* @param deviceFile The device file specifying the uart to use. E.g. "/dev/ttyPS1".
|
||||
* @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
|
||||
*
|
||||
*
|
||||
*/
|
||||
UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen);
|
||||
|
||||
virtual ~UartCookie();
|
||||
|
||||
uint32_t getBaudrate() const;
|
||||
size_t getMaxReplyLen() const;
|
||||
std::string getDeviceFile() const;
|
||||
Parity getParity() const;
|
||||
uint8_t getBitsPerWord() const;
|
||||
StopBits getStopBits() const;
|
||||
|
||||
/**
|
||||
* Functions two enable parity checking.
|
||||
*/
|
||||
void setParityOdd();
|
||||
void setParityEven();
|
||||
|
||||
/**
|
||||
* Function two set number of bits per UART frame.
|
||||
*/
|
||||
void setBitsPerWord(uint8_t bitsPerWord_);
|
||||
|
||||
/**
|
||||
* Function to specify the number of stopbits.
|
||||
*/
|
||||
void setTwoStopBits();
|
||||
void setOneStopBit();
|
||||
|
||||
|
||||
private:
|
||||
|
||||
std::string deviceFile;
|
||||
uint32_t baudrate;
|
||||
size_t maxReplyLen = 0;
|
||||
Parity parity = Parity::NONE;
|
||||
uint8_t bitsPerWord = 8;
|
||||
StopBits stopBits = StopBits::ONE_STOP_BIT;
|
||||
};
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue
Block a user