mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
f2f9349419
Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes. Some use cases for serial passthrough require specific parity settings. For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough. Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project.
140 lines
2.9 KiB
C++
140 lines
2.9 KiB
C++
/*
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* Copyright (C) 2017 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* 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_SITL
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#include "UARTDriver.h"
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#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(__APPLE__)
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#define USE_TERMIOS
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#endif
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#ifdef USE_TERMIOS
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#include <termios.h>
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#else
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#include <asm/ioctls.h>
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#include <asm/termbits.h>
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#endif
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#include <string.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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bool HALSITL::UARTDriver::set_speed(int speed) const
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{
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if (_fd < 0) {
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return false;
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}
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#ifdef USE_TERMIOS
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struct termios t;
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tcgetattr(_fd, &t);
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cfsetspeed(&t, speed);
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tcsetattr(_fd, TCSANOW, &t);
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#else
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struct termios2 tc;
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memset(&tc, 0, sizeof(tc));
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if (ioctl(_fd, TCGETS2, &tc) == -1) {
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return false;
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}
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/* speed is configured by c_[io]speed */
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tc.c_cflag &= ~CBAUD;
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tc.c_cflag |= BOTHER;
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tc.c_ispeed = speed;
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tc.c_ospeed = speed;
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if (ioctl(_fd, TCSETS2, &tc) == -1) {
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return false;
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}
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if (ioctl(_fd, TCFLSH, TCIOFLUSH) == -1) {
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return false;
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}
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#endif
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return true;
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}
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void HALSITL::UARTDriver::configure_parity(uint8_t v)
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{
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if (_fd < 0) {
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return;
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}
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UARTDriver::parity = v;
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#ifdef USE_TERMIOS
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struct termios t;
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tcgetattr(_fd, &t);
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#else
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struct termios2 t;
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memset(&t, 0, sizeof(t));
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if (ioctl(_fd, TCGETS2, &t) == -1) {
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return;
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}
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#endif
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if (v != 0) {
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// enable parity
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t.c_cflag |= PARENB;
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if (v == 1) {
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t.c_cflag |= PARODD;
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} else {
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t.c_cflag &= ~PARODD;
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}
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}
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else {
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// disable parity
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t.c_cflag &= ~PARENB;
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}
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#ifdef USE_TERMIOS
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tcsetattr(_fd, TCSANOW, &t);
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#else
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ioctl(_fd, TCSETS2, &t);
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#endif
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}
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void HALSITL::UARTDriver::set_stop_bits(int n)
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{
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if (_fd < 0) {
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return;
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}
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#ifdef USE_TERMIOS
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struct termios t;
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tcgetattr(_fd, &t);
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#else
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struct termios2 t;
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memset(&t, 0, sizeof(t));
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if (ioctl(_fd, TCGETS2, &t) == -1) {
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return;
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}
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#endif
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if (n > 1) {
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t.c_cflag |= CSTOPB;
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} else {
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t.c_cflag &= ~CSTOPB;
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}
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#ifdef USE_TERMIOS
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tcsetattr(_fd, TCSANOW, &t);
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#else
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ioctl(_fd, TCSETS2, &t);
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#endif
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}
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#endif
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