forked from Archive/PX4-Autopilot
298 lines
12 KiB
C
298 lines
12 KiB
C
/****************************************************************************
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* examples/usbserial/host.c
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*
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* Copyright (C) 2008 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <stdio.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 <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <termios.h>
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#include <fcntl.h>
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#include <errno.h>
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/****************************************************************************
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* Definitions
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****************************************************************************/
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#if defined(CONFIG_EXAMPLES_USBSERIAL_INONLY) && defined(CONFIG_EXAMPLES_USBSERIAL_OUTONLY)
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# error "Cannot define both CONFIG_EXAMPLES_USBSERIAL_INONLY and _OUTONLY"
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#endif
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#if defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL) && defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG)
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# error "Cannot define both CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL and _ONLYBIG"
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#endif
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#if !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG) && !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL)
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# ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
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# define COUNTER_NEEDED 1
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# endif
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#endif
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#ifdef CONFIG_CDCACM
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# define DEFAULT_TTYDEV "/dev/ttyACM0"
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#else
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# define DEFAULT_TTYDEV "/dev/ttyUSB0"
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#endif
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#define BUFFER_SIZE 1024
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const char *g_ttydev = DEFAULT_TTYDEV;
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#ifndef CONFIG_EXAMPLES_USBSERIAL_ONLYBIG
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static const char g_shortmsg[] = "Sure... You betcha!!\n";
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#endif
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#ifndef CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL
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static const char g_longmsg[] =
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"I am proud to come to this city as the guest of your distinguished Mayor, "
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"who has symbolized throughout the world the fighting spirit of West Berlin. "
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"And I am proud to visit the Federal Republic with your distinguished Chancellor "
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"who for so many years has committed Germany to democracy and freedom and "
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"progress, and to come here in the company of my fellow American, General Clay, "
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"who has been in this city during its great moments of crisis and will come "
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"again if ever needed.\n"
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"Two thousand years ago the proudest boast was \"civis Romanus sum.\" Today, "
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"in the world of freedom, the proudest boast is \"Ich bin ein Berliner.\"\r\""
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"I appreciate my interpreter translating my German!\n"
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"There are many people in the world who really don't understand, or say they "
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"don't, what is the great issue between the free world and the Communist world. "
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"Let them come to Berlin. There are some who say that communism is the wave of "
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"the future. Let them come to Berlin. And there are some who say in Europe and "
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"elsewhere we can work with the Communists. Let them come to Berlin. And there "
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"are even a few who say that it is true that communism is an evil system, but it "
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"permits us to make economic progress. Lass' sie nach Berlin kommen. Let them "
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"come to Berlin.\n"
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"Freedom has many difficulties and democracy is not perfect, but we have never "
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"had to put a wall up to keep our people in, to prevent them from leaving us. I "
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"want to say, on behalf of my countrymen, who live many miles away on the other "
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"side of the Atlantic, who are far distant from you, that they take the greatest "
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"pride that they have been able to share with you, even from a distance, the "
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"story of the last 18 years. I know of no town, no city, that has been besieged "
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"for 18 years that still lives with the vitality and the force, and the hope and "
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"the determination of the city of West Berlin. While the wall is the most obvious "
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"and vivid demonstration of the failures of the Communist system, for all the "
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"world to see, we take no satisfaction in it, for it is, as your Mayor has said, "
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"an offense not only against history but an offense against humanity, separating "
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"families, dividing husbands and wives and brothers and sisters, and dividing a "
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"people who wish to be joined together.\n"
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"What is true of this city is true of Germany--real, lasting peace in Europe can "
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"never be assured as long as one German out of four is denied the elementary "
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"right of free men, and that is to make a free choice. In 18 years of peace and "
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"good faith, this generation of Germans has earned the right to be free, "
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"including the right to unite their families and their nation in lasting peace, "
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"with good will to all people. You live in a defended island of freedom, but "
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"your life is part of the main. So let me ask you as I close, to lift your eyes "
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"beyond the dangers of today, to the hopes of tomorrow, beyond the freedom merely "
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"of this city of Berlin, or your country of Germany, to the advance of freedom "
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"everywhere, beyond the wall to the day of peace with justice, beyond yourselves "
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"and ourselves to all mankind.\n"
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"Freedom is indivisible, and when one man is enslaved, all are not free. When all "
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"are free, then we can look forward to that day when this city will be joined as "
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"one and this country and this great Continent of Europe in a peaceful and hopeful "
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"globe. When that day finally comes, as it will, the people of West Berlin can take "
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"sober satisfaction in the fact that they were in the front lines for almost two "
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"decades.\n"
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"All free men, wherever they may live, are citizens of Berlin, and, therefore, "
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"as a free man, I take pride in the words \"Ich bin ein Berliner.\"\n"
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"President John F. Kennedy - June 26, 1963\n";
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#endif
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#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
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static char g_iobuffer[BUFFER_SIZE];
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#endif
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/****************************************************************************
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* show_usage
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****************************************************************************/
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static void show_usage(const char *progname, int exitcode)
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{
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fprintf(stderr, "USAGE: %s [<ttydev>]\n", progname);
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exit(exitcode);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* main
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****************************************************************************/
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int main(int argc, char **argv, char **envp)
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{
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struct termios tty;
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#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
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ssize_t nbytes;
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#endif
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#ifdef COUNTER_NEEDED
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int count = 0;
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#endif
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int fd;
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int ret;
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/* Handle input parameters */
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if (argc > 1)
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{
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if (argc > 2)
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{
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fprintf(stderr, "Too many arguments on command line\n");
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show_usage(argv[0], 1);
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}
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g_ttydev = argv[1];
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}
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/* Open the USB serial device for blocking read/write */
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do
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{
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printf("main: Opening USB serial driver\n");
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fd = open(g_ttydev, O_RDWR);
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if (fd < 0)
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{
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printf("main: ERROR: Failed to open %s: %s\n", g_ttydev, strerror(errno));
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printf("main: Assume not connected. Wait and try again.\n");
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printf("main: (Control-C to terminate).\n");
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sleep(5);
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}
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}
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while (fd < 0);
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printf("main: Successfully opened the serial driver\n");
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/* Configure the serial port in raw mode (at least turn off echo) */
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ret = tcgetattr(fd, &tty);
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if (ret < 0)
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{
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printf("main: ERROR: Failed to get termios for %s: %s\n", g_ttydev, strerror(errno));
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close(fd);
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return 1;
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}
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tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL|IXON);
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tty.c_oflag &= ~OPOST;
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tty.c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN);
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tty.c_cflag &= ~(CSIZE|PARENB);
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tty.c_cflag |= CS8;
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ret = tcsetattr(fd, TCSANOW, &tty);
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if (ret < 0)
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{
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printf("main: ERROR: Failed to set termios for %s: %s\n", g_ttydev, strerror(errno));
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close(fd);
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return 1;
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}
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/* Wait for and/or send messages -- forever */
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for (;;)
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{
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/* Test IN messages (device-to-host) */
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#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
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printf("main: Reading from the serial driver\n");
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printf("main: ... (Control-C to terminate) ...\n");
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nbytes = read(fd, g_iobuffer, BUFFER_SIZE-1);
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if (nbytes < 0)
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{
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printf("main: ERROR: Failed to read from %s: %s\n", g_ttydev, strerror(errno));
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close(fd);
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return 2;
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}
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else if (nbytes == 0)
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{
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printf("main: End-of-file encountered\n");
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break;
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}
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g_iobuffer[nbytes] = '\0';
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printf("main: Received %d bytes:\n", nbytes);
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printf(" \"%s\"\n", g_iobuffer);
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#else
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printf("main: Waiting...\n");
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sleep(5);
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#endif /* CONFIG_EXAMPLES_USBSERIAL_OUTONLY */
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/* Test OUT messages (host-to-device) */
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#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
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#if !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL) && !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG)
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count++;
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if (count < 5)
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{
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printf("main: Sending %d bytes..\n", sizeof(g_shortmsg));
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nbytes = write(fd, g_shortmsg, sizeof(g_shortmsg));
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}
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else
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{
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printf("main: Sending %d bytes..\n", sizeof(g_longmsg));
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nbytes = write(fd, g_longmsg, sizeof(g_longmsg));
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count = 0;
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}
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#elif !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL)
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printf("main: Sending %d bytes..\n", sizeof(g_longmsg));
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nbytes = write(fd, g_longmsg, sizeof(g_longmsg));
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#else /* !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG) */
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printf("main: Sending %d bytes..\n", sizeof(g_shortmsg));
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nbytes = write(fd, g_shortmsg, sizeof(g_shortmsg));
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#endif
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/* Test if write was successful */
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if (nbytes < 0)
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{
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printf("main: ERROR: Failed to write to %s: %s\n", g_ttydev, strerror(errno));
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close(fd);
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return 2;
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}
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printf("main: %d bytes sent\n", nbytes);
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#endif /* CONFIG_EXAMPLES_USBSERIAL_INONLY */
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}
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close(fd);
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return 0;
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}
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