mirror of https://github.com/ArduPilot/ardupilot
301 lines
6.7 KiB
C++
301 lines
6.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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#include <stdlib.h>
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#include <unistd.h>
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#include "UARTDriver.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <dev_fs_lib_serial.h>
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#include <AP_HAL/utility/RingBuffer.h>
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using namespace QURT;
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extern const AP_HAL::HAL& hal;
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UARTDriver::UARTDriver(const char *name) :
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devname(name)
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{
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}
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void UARTDriver::begin(uint32_t b)
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{
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begin(b, 16384, 16384);
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}
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static const struct {
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uint32_t baudrate;
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enum DSPAL_SERIAL_BITRATES arg;
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} baudrate_table[] = {
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{ 9600, DSPAL_SIO_BITRATE_9600 },
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{ 14400, DSPAL_SIO_BITRATE_14400 },
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{ 19200, DSPAL_SIO_BITRATE_19200 },
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{ 38400, DSPAL_SIO_BITRATE_38400 },
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{ 57600, DSPAL_SIO_BITRATE_57600 },
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{ 76800, DSPAL_SIO_BITRATE_76800 },
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{ 115200, DSPAL_SIO_BITRATE_115200 },
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{ 230400, DSPAL_SIO_BITRATE_230400 },
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{ 250000, DSPAL_SIO_BITRATE_250000 },
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{ 460800, DSPAL_SIO_BITRATE_460800 },
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{ 921600, DSPAL_SIO_BITRATE_921600 },
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{ 2000000, DSPAL_SIO_BITRATE_2000000 },
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};
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extern "C" {
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static void read_callback_trampoline(void *, char *, size_t );
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}
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static void read_callback_trampoline(void *ctx, char *buf, size_t size)
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{
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((UARTDriver *)ctx)->_read_callback(buf, size);
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}
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/*
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callback for incoming data
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*/
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void UARTDriver::_read_callback(char *buf, size_t size)
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{
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if (readbuf == nullptr) {
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return;
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}
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uint32_t n = readbuf->write((const uint8_t *)buf, size);
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if (n != size) {
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HAP_PRINTF("read_callback lost %u %u", n, size);
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}
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}
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void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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{
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if (devname == nullptr) {
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return;
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}
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if (rxS < 4096) {
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rxS = 4096;
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}
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if (txS < 4096) {
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txS = 4096;
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}
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if (fd == -1) {
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fd = open(devname, O_RDWR | O_NONBLOCK);
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if (fd == -1) {
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AP_HAL::panic("Unable to open %s", devname);
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}
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}
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/*
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allocate the read buffer
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we allocate buffers before we successfully open the device as we
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want to allocate in the early stages of boot, and cause minimum
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thrashing of the heap once we are up. The ttyACM0 driver may not
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connect for some time after boot
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*/
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if (rxS != 0 && (readbuf == nullptr || rxS != readbuf->get_size())) {
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initialised = false;
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if (readbuf != nullptr) {
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delete readbuf;
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}
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readbuf = new ByteBuffer(rxS);
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}
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/*
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allocate the write buffer
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*/
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if (txS != 0 && (writebuf == nullptr || txS != writebuf->get_size())) {
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initialised = false;
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if (writebuf != nullptr) {
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delete writebuf;
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}
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writebuf = new ByteBuffer(txS);
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}
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struct dspal_serial_ioctl_receive_data_callback callback;
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callback.context = this;
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callback.rx_data_callback_func_ptr = read_callback_trampoline;
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int ret = ioctl(fd, SERIAL_IOCTL_SET_RECEIVE_DATA_CALLBACK, (void *)&callback);
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if (b != 0) {
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for (uint8_t i=0; i<ARRAY_SIZE(baudrate_table); i++) {
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if (b <= baudrate_table[i].baudrate) {
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struct dspal_serial_ioctl_data_rate rate;
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rate.bit_rate = baudrate_table[i].arg;
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ret = ioctl(fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&rate);
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break;
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}
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}
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}
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if (readbuf && writebuf && fd != -1) {
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initialised = true;
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}
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}
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void UARTDriver::end()
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{
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initialised = false;
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if (fd != -1) {
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::close(fd);
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fd = -1;
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}
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if (readbuf) {
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delete readbuf;
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readbuf = nullptr;
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}
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if (writebuf) {
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delete writebuf;
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writebuf = nullptr;
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}
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}
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void UARTDriver::flush()
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{
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}
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bool UARTDriver::is_initialized()
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{
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return fd != -1 && initialised;
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}
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void UARTDriver::set_blocking_writes(bool blocking)
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{
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nonblocking_writes = !blocking;
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}
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bool UARTDriver::tx_pending()
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{
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return false;
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}
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/* QURT implementations of Stream virtual methods */
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int16_t UARTDriver::available()
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{
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if (!initialised) {
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return 0;
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}
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return readbuf->available();
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}
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int16_t UARTDriver::txspace()
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{
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if (!initialised) {
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return 0;
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}
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return writebuf->space();
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}
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int16_t UARTDriver::read()
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{
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uint8_t c;
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if (!initialised) {
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return -1;
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}
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if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return 0;
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}
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if (readbuf->empty()) {
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lock.give();
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return -1;
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}
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readbuf->read(&c, 1);
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lock.give();
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return c;
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}
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/* QURT implementations of Print virtual methods */
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size_t UARTDriver::write(uint8_t c)
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{
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if (!initialised) {
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return 0;
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}
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if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return 0;
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}
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while (writebuf->space() == 0) {
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if (nonblocking_writes) {
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lock.give();
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return 0;
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}
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hal.scheduler->delay_microseconds(1000);
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}
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writebuf->write(&c, 1);
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lock.give();
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return 1;
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}
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size_t UARTDriver::write(const uint8_t *buffer, size_t size)
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{
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if (!initialised) {
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return 0;
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}
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if (!nonblocking_writes) {
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/*
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use the per-byte delay loop in write() above for blocking writes
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*/
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size_t ret = 0;
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while (size--) {
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if (write(*buffer++) != 1) break;
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ret++;
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}
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return ret;
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}
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if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return 0;
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}
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size_t ret = writebuf->write(buffer, size);
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lock.give();
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return ret;
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}
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/*
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push any pending bytes to/from the serial port. This is called at
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1kHz in the timer thread
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*/
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void UARTDriver::timer_tick(void)
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{
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uint16_t n;
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if (fd == -1 || !initialised || !lock.take_nonblocking()) {
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return;
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}
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in_timer = true;
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// write any pending bytes
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n = writebuf->available();
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if (n == 0) {
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in_timer = false;
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lock.give();
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return;
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}
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if (n > 64) {
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n = 64;
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}
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uint8_t buf[n];
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writebuf->read(buf, n);
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::write(fd, buf, n);
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lock.give();
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in_timer = false;
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}
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#endif
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