ardupilot/libraries/AP_HAL_Linux/RPIOUARTDriver.cpp

203 lines
4.8 KiB
C++

#include "RPIOUARTDriver.h"
#include <stdlib.h>
#include <cstdio>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "px4io_protocol.h"
#define RPIOUART_POLL_TIME_INTERVAL 10000
extern const AP_HAL::HAL& hal;
#define RPIOUART_DEBUG 0
#include <cassert>
#if RPIOUART_DEBUG
#define debug(fmt, args ...) do {hal.console->printf("[RPIOUARTDriver]: %s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#define error(fmt, args ...) do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#else
#define debug(fmt, args ...)
#define error(fmt, args ...)
#endif
using namespace Linux;
RPIOUARTDriver::RPIOUARTDriver() :
UARTDriver(false),
_dev(nullptr),
_last_update_timestamp(0),
_external(false),
_need_set_baud(false),
_baudrate(0)
{
}
bool RPIOUARTDriver::sem_take_nonblocking()
{
return _dev->get_semaphore()->take_nonblocking();
}
void RPIOUARTDriver::sem_give()
{
_dev->get_semaphore()->give();
}
bool RPIOUARTDriver::isExternal()
{
return _external;
}
void RPIOUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
//hal.console->printf("[RPIOUARTDriver]: begin \n");
if (device_path != nullptr) {
UARTDriver::begin(b,rxS,txS);
if ( is_initialized()) {
_external = true;
return;
}
}
if (rxS < 1024) {
rxS = 2048;
}
if (txS < 1024) {
txS = 2048;
}
_initialised = false;
while (_in_timer) hal.scheduler->delay(1);
_readbuf.set_size(rxS);
_writebuf.set_size(txS);
_dev = hal.spi->get_device("raspio");
/* set baudrate */
_baudrate = b;
_need_set_baud = true;
while (_need_set_baud) {
hal.scheduler->delay(1);
}
if (_writebuf.get_size() && _readbuf.get_size()) {
_initialised = true;
}
}
int RPIOUARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
{
if (_external) {
return UARTDriver::_write_fd(buf, n);
}
return -1;
}
int RPIOUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
{
if (_external) {
return UARTDriver::_read_fd(buf, n);
}
return -1;
}
void RPIOUARTDriver::_timer_tick(void)
{
if (_external) {
UARTDriver::_timer_tick();
return;
}
/* set the baudrate of raspilotio */
if (_need_set_baud) {
if (_baudrate != 0) {
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
struct IOPacket _packet_tx = {0}, _packet_rx = {0};
_packet_tx.count_code = 2 | PKT_CODE_WRITE;
_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_packet_tx.regs[0] = _baudrate & 0xffff;
_packet_tx.regs[1] = _baudrate >> 16;
_packet_tx.crc = crc_packet(&_packet_tx);
_dev->transfer((uint8_t *)&_packet_tx, sizeof(_packet_tx),
(uint8_t *)&_packet_rx, sizeof(_packet_rx));
hal.scheduler->delay(1);
_dev->get_semaphore()->give();
}
_need_set_baud = false;
}
/* finish set */
if (!_initialised) return;
/* lower the update rate */
if (AP_HAL::micros() - _last_update_timestamp < RPIOUART_POLL_TIME_INTERVAL) {
return;
}
_in_timer = true;
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
struct IOPacket _packet_tx = {0}, _packet_rx = {0};
/* get write_buf bytes */
uint32_t max_size = MIN(PKT_MAX_REGS * 2,
_baudrate / 10 / (1000000 / RPIOUART_POLL_TIME_INTERVAL));
uint32_t n = MIN(_writebuf.available(), max_size);
_writebuf.read(&((uint8_t *)_packet_tx.regs)[0], n);
_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART;
_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_packet_tx.offset = n;
_packet_tx.crc = crc_packet(&_packet_tx);
/* end get write_buf bytes */
/* set raspilotio to read uart data */
_dev->transfer((uint8_t *)&_packet_tx, sizeof(_packet_tx),
(uint8_t *)&_packet_rx, sizeof(_packet_rx));
hal.scheduler->delay_microseconds(100);
/* get uart data from raspilotio */
memset(&_packet_tx, 0, sizeof(_packet_tx));
_packet_tx.count_code = PKT_CODE_READ;
_packet_tx.crc = crc_packet(&_packet_tx);
_dev->transfer((uint8_t *)&_packet_tx, sizeof(_packet_tx),
(uint8_t *)&_packet_rx, sizeof(_packet_rx));
hal.scheduler->delay_microseconds(100);
/* release sem */
_dev->get_semaphore()->give();
if (_packet_rx.page == PX4IO_PAGE_UART_BUFFER) {
/* add bytes to read buf */
max_size = MIN(_packet_rx.offset, PKT_MAX_REGS * 2);
n = MIN(_readbuf.space(), max_size);
_readbuf.write(&((uint8_t *)_packet_rx.regs)[0], n);
}
_in_timer = false;
_last_update_timestamp = AP_HAL::micros();
}