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HAL_Linux: default to hal.console on stdout

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This commit is contained in:
Andrew Tridgell 2013-10-01 12:49:58 +10:00
parent bcc9cdbf43
commit bbac3265b2
3 changed files with 36 additions and 21 deletions
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6
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -12,9 +12,9 @@
using namespace Linux; using namespace Linux;
// 3 serial ports on Linux for now // 3 serial ports on Linux for now
static LinuxUARTDriver uartADriver; static LinuxUARTDriver uartADriver(true);
static LinuxUARTDriver uartBDriver; static LinuxUARTDriver uartBDriver(false);
static LinuxUARTDriver uartCDriver; static LinuxUARTDriver uartCDriver(false);
static LinuxSemaphore i2cSemaphore; static LinuxSemaphore i2cSemaphore;
static LinuxI2CDriver i2cDriver(&i2cSemaphore, "/dev/i2c-1"); static LinuxI2CDriver i2cDriver(&i2cSemaphore, "/dev/i2c-1");

45
libraries/AP_HAL_Linux/UARTDriver.cpp
View File

@ -20,10 +20,16 @@ extern const AP_HAL::HAL& hal;
using namespace Linux; using namespace Linux;
LinuxUARTDriver::LinuxUARTDriver() : LinuxUARTDriver::LinuxUARTDriver(bool default_console) :
device_path(NULL), device_path(NULL),
_fd(-1) _rd_fd(-1),
_wr_fd(-1)
{ {
if (default_console) {
_rd_fd = 0;
_wr_fd = 1;
_console = true;
}
} }
/* /*
@ -44,14 +50,19 @@ void LinuxUARTDriver::begin(uint32_t b)
void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{ {
if (!_initialised) { if (device_path == NULL && _console) {
_rd_fd = 0;
_wr_fd = 1;
rxS = 512;
txS = 512;
} else if (!_initialised) {
if (device_path == NULL) { if (device_path == NULL) {
return; return;
} }
uint8_t retries = 0; uint8_t retries = 0;
while (retries < 5) { while (retries < 5) {
_fd = open(device_path, O_RDWR); _rd_fd = open(device_path, O_RDWR);
if (_fd != -1) { if (_rd_fd != -1) {
break; break;
} }
// sleep a bit and retry. There seems to be a NuttX bug // sleep a bit and retry. There seems to be a NuttX bug
@ -60,7 +71,8 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
hal.scheduler->delay(100); hal.scheduler->delay(100);
retries++; retries++;
} }
if (_fd == -1) { _wr_fd = _rd_fd;
if (_rd_fd == -1) {
fprintf(stdout, "Failed to open UART device %s - %s\n", fprintf(stdout, "Failed to open UART device %s - %s\n",
device_path, strerror(errno)); device_path, strerror(errno));
return; return;
@ -73,7 +85,7 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
// always run the file descriptor non-blocking, and deal with // always run the file descriptor non-blocking, and deal with
// blocking IO in the higher level calls // blocking IO in the higher level calls
fcntl(_fd, F_SETFL, fcntl(_fd, F_GETFL, 0) | O_NONBLOCK); fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK);
if (rxS == 0) { if (rxS == 0) {
rxS = 128; rxS = 128;
@ -90,14 +102,14 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_initialised = false; _initialised = false;
while (_in_timer) hal.scheduler->delay(1); while (_in_timer) hal.scheduler->delay(1);
if (b != 0) { if (b != 0 && _rd_fd == _wr_fd) {
// set the baud rate // set the baud rate
struct termios t; struct termios t;
tcgetattr(_fd, &t); tcgetattr(_rd_fd, &t);
cfsetspeed(&t, b); cfsetspeed(&t, b);
// disable LF -> CR/LF // disable LF -> CR/LF
t.c_oflag &= ~ONLCR; t.c_oflag &= ~ONLCR;
tcsetattr(_fd, TCSANOW, &t); tcsetattr(_rd_fd, TCSANOW, &t);
} }
/* /*
@ -138,10 +150,11 @@ void LinuxUARTDriver::end()
{ {
_initialised = false; _initialised = false;
while (_in_timer) hal.scheduler->delay(1); while (_in_timer) hal.scheduler->delay(1);
if (_fd != -1) { if (_rd_fd == _wr_fd && _rd_fd != -1) {
close(_fd); close(_rd_fd);
_fd = -1;
} }
_rd_fd = -1;
_wr_fd = -1;
if (_readbuf) { if (_readbuf) {
free(_readbuf); free(_readbuf);
_readbuf = NULL; _readbuf = NULL;
@ -325,12 +338,12 @@ int LinuxUARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
int ret = 0; int ret = 0;
struct pollfd fds; struct pollfd fds;
fds.fd = _fd; fds.fd = _wr_fd;
fds.events = POLLOUT; fds.events = POLLOUT;
fds.revents = 0; fds.revents = 0;
if (poll(&fds, 1, 0) == 1) { if (poll(&fds, 1, 0) == 1) {
ret = ::write(_fd, buf, n); ret = ::write(_wr_fd, buf, n);
} }
if (ret > 0) { if (ret > 0) {
@ -347,7 +360,7 @@ int LinuxUARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
int LinuxUARTDriver::_read_fd(uint8_t *buf, uint16_t n) int LinuxUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
{ {
int ret; int ret;
ret = ::read(_fd, buf, n); ret = ::read(_rd_fd, buf, n);
if (ret > 0) { if (ret > 0) {
BUF_ADVANCETAIL(_readbuf, ret); BUF_ADVANCETAIL(_readbuf, ret);
} }

6
libraries/AP_HAL_Linux/UARTDriver.h
View File

@ -6,7 +6,7 @@
class Linux::LinuxUARTDriver : public AP_HAL::UARTDriver { class Linux::LinuxUARTDriver : public AP_HAL::UARTDriver {
public: public:
LinuxUARTDriver(); LinuxUARTDriver(bool default_console);
/* Linux implementations of UARTDriver virtual methods */ /* Linux implementations of UARTDriver virtual methods */
void begin(uint32_t b); void begin(uint32_t b);
void begin(uint32_t b, uint16_t rxS, uint16_t txS); void begin(uint32_t b, uint16_t rxS, uint16_t txS);
@ -31,8 +31,10 @@ public:
private: private:
const char *device_path; const char *device_path;
int _fd; int _rd_fd;
int _wr_fd;
bool _nonblocking_writes; bool _nonblocking_writes;
bool _console;
volatile bool _initialised; volatile bool _initialised;
volatile bool _in_timer; volatile bool _in_timer;