mirror of https://github.com/ArduPilot/ardupilot
133 lines
2.4 KiB
C++
133 lines
2.4 KiB
C++
#include "UARTDevice.h"
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#include <errno.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <stdio.h>
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#include <termios.h>
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#include <unistd.h>
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#include <AP_HAL/AP_HAL.h>
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UARTDevice::UARTDevice(const char *device_path):
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_device_path(device_path)
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{
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}
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UARTDevice::~UARTDevice()
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{
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}
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bool UARTDevice::close()
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{
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if (_fd != -1) {
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if (::close(_fd) < 0) {
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return false;
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}
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}
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_fd = -1;
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return true;
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}
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bool UARTDevice::open()
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{
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_fd = ::open(_device_path, O_RDWR | O_CLOEXEC);
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if (_fd < 0) {
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::fprintf(stderr, "Failed to open UART device %s - %s\n",
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_device_path, strerror(errno));
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return false;
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}
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_disable_crlf();
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return true;
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}
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ssize_t UARTDevice::read(uint8_t *buf, uint16_t n)
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{
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return ::read(_fd, buf, n);
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}
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ssize_t UARTDevice::write(const uint8_t *buf, uint16_t n)
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{
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struct pollfd fds;
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fds.fd = _fd;
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fds.events = POLLOUT;
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fds.revents = 0;
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int ret = 0;
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if (poll(&fds, 1, 0) == 1) {
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ret = ::write(_fd, buf, n);
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}
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return ret;
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}
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void UARTDevice::set_blocking(bool blocking)
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{
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int flags = fcntl(_fd, F_GETFL, 0);
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if (blocking) {
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flags = flags & ~O_NONBLOCK;
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} else {
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flags = flags | O_NONBLOCK;
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}
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if (fcntl(_fd, F_SETFL, flags) < 0) {
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::fprintf(stderr, "Failed to make UART nonblocking %s - %s\n",
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_device_path, strerror(errno));
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}
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}
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void UARTDevice::_disable_crlf()
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{
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struct termios t;
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memset(&t, 0, sizeof(t));
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tcgetattr(_fd, &t);
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// disable LF -> CR/LF
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t.c_iflag &= ~(BRKINT | ICRNL | IMAXBEL | IXON | IXOFF);
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t.c_oflag &= ~(OPOST | ONLCR);
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t.c_lflag &= ~(ISIG | ICANON | IEXTEN | ECHO | ECHOE | ECHOK | ECHOCTL | ECHOKE);
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t.c_cc[VMIN] = 0;
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tcsetattr(_fd, TCSANOW, &t);
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}
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void UARTDevice::set_speed(uint32_t baudrate)
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{
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struct termios t;
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memset(&t, 0, sizeof(t));
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tcgetattr(_fd, &t);
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cfsetspeed(&t, baudrate);
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tcsetattr(_fd, TCSANOW, &t);
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}
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void UARTDevice::set_flow_control(AP_HAL::UARTDriver::flow_control flow_control_setting)
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{
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struct termios t;
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if (_flow_control == flow_control_setting) {
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return;
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}
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tcgetattr(_fd, &t);
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if (flow_control_setting != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE) {
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t.c_cflag |= CRTSCTS;
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} else {
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t.c_cflag &= ~CRTSCTS;
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}
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tcsetattr(_fd, TCSANOW, &t);
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_flow_control = flow_control_setting;
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}
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