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Qurt termios decoy (#22954)
* Added decoy termios support to Qurt so that ghst parser in RC library can be used. No termios is actually needed but has to be there for the parser to work
This commit is contained in:
Eric Katzfey
GitHub
parent
ccdf060393
commit
71b074b234
@ -47,7 +47,7 @@ add_library(drivers_board
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add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
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add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
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# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
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# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
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add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
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add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
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# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
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add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)
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@ -1,37 +1,318 @@
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/****************************************************************************
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* include/termios.h
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*
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* Copyright (C) 2022 ModalAI, Inc. All rights reserved.
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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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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* http://www.apache.org/licenses/LICENSE-2.0
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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 PX4 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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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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// This file prevents a missing header file error but since Qurt doesn't support
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// termios the actual code will still need to be changed for Qurt
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#ifndef __INCLUDE_TERMIOS_H
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#define __INCLUDE_TERMIOS_H
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typedef unsigned int speed_t;
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <sys/types.h>
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#include <stdint.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Terminal input modes (c_iflag in the termios structure) */
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#define IGNBRK (1 << 0) /* Bit 0: Ignore break condition */
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#define BRKINT (1 << 1) /* Bit 1: Signal interrupt on break */
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#define IGNPAR (1 << 2) /* Bit 2: Ignore characters with parity errors */
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#define PARMRK (1 << 3) /* Bit 3: Mark parity errors */
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#define INPCK (1 << 4) /* Bit 4: Enable input parity check */
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#define ISTRIP (1 << 5) /* Bit 5: Strip character */
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#define INLCR (1 << 6) /* Bit 6: Map NL to CR on input */
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#define IGNCR (1 << 7) /* Bit 7: Ignore CR */
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#define ICRNL (1 << 8) /* Bit 8: Map CR to NL on input */
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#define IUCLC (1 << 9) /* Bit 9: Map upper-case to lower-case on input (LEGACY) */
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#define IXON (1 << 10) /* Bit 10: Enable start/stop output control */
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#define IXANY (1 << 11) /* Bit 11: Enable any character to restart output */
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#define IXOFF (1 << 12) /* Bit 12: Enable start/stop input control */
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/* Terminal output modes (c_oflag in the termios structure) */
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#define OPOST (1 << 0) /* Bit 0: Post-process output */
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#define OLCUC (1 << 1) /* Bit 1: Map lower-case to upper-case on output (LEGACY) */
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#define ONLCR (1 << 2) /* Bit 2: Map NL to CR-NL on output */
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#define OCRNL (1 << 3) /* Bit 3: Map CR to NL on output */
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#define ONOCR (1 << 4) /* Bit 4: No CR output at column 0 */
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#define ONLRET (1 << 5) /* Bit 5: NL performs CR function */
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#define OFILL (1 << 6) /* Bit 6: Use fill characters for delay */
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#define NLDLY (1 << 8) /* Bit 8: Select newline delays: */
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# define NL0 (0 << 8) /* Newline character type 0 */
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# define NL1 (1 << 8) /* Newline character type 1 */
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#define CRDLY (3 << 9) /* Bits 9-10: Select carriage-return delays: */
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# define CR0 (0 << 9) /* Carriage-return delay type 0 */
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# define CR1 (1 << 9) /* Carriage-return delay type 1 */
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# define CR2 (2 << 9) /* Carriage-return delay type 2 */
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# define CR3 (3 << 9) /* Carriage-return delay type 3 */
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#define TABDLY (3 << 11) /* Bits 11-12: Select horizontal-tab delays: */
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# define TAB0 (0 << 11) /* Horizontal-tab delay type 0 */
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# define TAB1 (1 << 11) /* Horizontal-tab delay type 1 */
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# define TAB2 (2 << 11) /* Horizontal-tab delay type 2 */
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# define TAB3 (3 << 11) /* Expand tabs to spaces */
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#define BSDLY (1 << 13) /* Bit 13: Select backspace delays: */
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# define BS0 (0 << 13) /* Backspace-delay type 0 */
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# define BS1 (1 << 13) /* Backspace-delay type 1 */
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#define VTDLY (1 << 14) /* Bit 14: Select vertical-tab delays: */
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# define VT0 (0 << 14) /* Vertical-tab delay type 0 */
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# define VT1 (1 << 14) /* Vertical-tab delay type 1 */
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#define FFDLY (1 << 15) /* Bit 15: Select form-feed delays: */
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# define FF0 (0 << 15) /* Form-feed delay type 0 */
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# define FF1 (1 << 15) /* Form-feed delay type 1 */
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/* Control Modes (c_cflag in the termios structure) */
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#define CSIZE (3 << 4) /* Bits 4-5: Character size: */
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# define CS5 (0 << 4) /* 5 bits */
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# define CS6 (1 << 4) /* 6 bits */
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# define CS7 (2 << 4) /* 7 bits */
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# define CS8 (3 << 4) /* 8 bits */
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#define CSTOPB (1 << 6) /* Bit 6: Send two stop bits, else one */
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#define CREAD (1 << 7) /* Bit 7: Enable receiver */
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#define PARENB (1 << 8) /* Bit 8: Parity enable */
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#define PARODD (1 << 9) /* Bit 9: Odd parity, else even */
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#define HUPCL (1 << 10) /* Bit 10: Hang up on last close */
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#define CLOCAL (1 << 11) /* Bit 11: Ignore modem status lines */
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#define CCTS_OFLOW (1 << 29) /* Bit 29: CTS flow control of output */
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#define CRTS_IFLOW (1u << 31) /* Bit 31: RTS flow control of input */
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#define CRTSCTS (CCTS_OFLOW | CRTS_IFLOW)
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/* Local Modes (c_lflag in the termios structure) */
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#define ISIG (1 << 0) /* Bit 0: Enable signals */
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#define ICANON (1 << 1) /* Bit 1: Canonical input (erase and kill processing) */
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#define XCASE (1 << 2) /* Bit 2: Canonical upper/lower presentation (LEGACY) */
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#define ECHO (1 << 3) /* Bit 3: Enable echo */
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#define ECHOE (1 << 4) /* Bit 4: Echo erase character as error correcting backspace */
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#define ECHOK (1 << 5) /* Bit 5: Echo KILL */
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#define ECHONL (1 << 6) /* Bit 6: Echo NL */
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#define NOFLSH (1 << 7) /* Bit 7: Disable flush after interrupt or quit */
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#define TOSTOP (1 << 8) /* Bit 8: Send SIGTTOU for background output */
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#define IEXTEN (1 << 15) /* Bit 15: Enable extended input character processing */
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/* The following are subscript names for the termios c_cc array.
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*
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* Common characters: VINTR, VQUIT, VSTART, VSTOP, VSUSP
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*
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* VINTR: Interrupt character (Default ETX, Control-C)
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* VQUIT: Quit character (Default FS, Control-\)
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* VSTART: Start character (Default DC1, Control-Q)
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* VSTOP: Stop character (Default DC3, Control-S)
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* VSUSP: Suspend character (Default SUB, Control-Z)
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*
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* Canonical mode: Adds VEOF, VEOL, VERASE, VKILL
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*
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* VEOL: End-of-file character (Default SUB, Control-Z)
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* VEOF: End-of-line character (Default NUL)
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* VERASE: Erase character (Default DEL or BS, Control-H)
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* VKILL: Kill character (Default NAK or BS, Control-U)
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*
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* Non-canonical mode: Adds VMIN, VTIME
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*
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* VMIN: Minimum number of characters for non-canonical read
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* VTIME: Timeout in deciseconds for non-canonical read
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*/
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#define VINTR 0 /* Bit 0: INTR character */
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#define VQUIT 1 /* Bit 1: QUIT character */
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#define VERASE 2 /* Bit 2: ERASE character (canonical mode) */
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#define VKILL 3 /* Bit 3: KILL character (canonical mode) */
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#define VEOF 4 /* Bit 4: EOF character (canonical mode) */
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#define VTIME 5 /* Bit 5: TIME value (non-canonical mode) */
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#define VMIN 6 /* Bit 6: MIN value (non-canonical mode) */
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#define VSTART 8 /* Bit 8: START character */
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#define VSTOP 9 /* Bit 9: STOP character */
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#define VSUSP 10 /* Bit 10: SUSP character */
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#define VEOL 11 /* Bit 11: EOL character (canonical mode) */
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#define NCCS 12 /* Bit 12: Size of the array c_cc for control characters */
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/* Baud Rate Selection. These are instances of type speed_t. Values of
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* 38400 and below are specified by POSIX; values above 38400 are sometimes
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* referred to as extended values and most values appear in most termios.h
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* implementations.
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*/
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#define B0 0000000 /* Hang up */
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#define B50 0000001 /* 50 baud */
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#define B75 0000002 /* 75 baud */
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#define B110 0000003 /* 110 baud */
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#define B134 0000004 /* 134.5 baud */
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#define B150 0000005 /* 150 baud */
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#define B200 0000006 /* 200 baud */
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#define B300 0000007 /* 300 baud */
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#define B600 0000010 /* 600 baud */
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#define B1200 0000011 /* 1,200 baud */
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#define B1800 0000012 /* 1,800 baud */
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#define B2400 0000013 /* 2,400 baud */
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#define B4800 0000014 /* 4,800 baud */
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#define B9600 0000015 /* 9,600 baud */
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#define B19200 0000016 /* 19,200 baud */
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#define B38400 0000017 /* 38,400 baud */
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#define B57600 0010001 /* 57,600 baud */
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#define B115200 0010002 /* 115,200 baud */
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#define B230400 0010003 /* 230,400 baud */
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#define B460800 0010004 /* 460,800 baud */
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#define B500000 0010005 /* 500,000 baud */
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#define B576000 0010006 /* 576,000 baud */
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#define B921600 0010007 /* 921,600 baud */
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#define B1000000 0010010 /* 1,000,000 baud */
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#define B1152000 0010011 /* 1,152,000 baud */
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#define B1500000 0010012 /* 1,500,000 baud */
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#define B2000000 0010013 /* 2,000,000 baud */
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#define B2500000 0010014 /* 2,500,000 baud */
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#define B3000000 0010015 /* 3,000,000 baud */
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#define B3500000 0010016 /* 3,500,000 baud */
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#define B4000000 0010017 /* 4,000,000 baud */
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/* Attribute Selection (used with tcsetattr()) */
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#define TCSANOW 0 /* Change attributes immediately */
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#define TCSADRAIN 1 /* Change attributes when output has drained */
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#define TCSAFLUSH 2 /* Change attributes when output has drained;
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* also flush pending input */
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/* Line Control (used with tcflush()) */
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#define TCIFLUSH 0 /* Flush pending input */
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#define TCOFLUSH 1 /* Flush untransmitted output */
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#define TCIOFLUSH 2 /* Flush both pending input and untransmitted
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* output */
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/* Constants for use with tcflow() */
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#define TCOOFF 0 /* Suspend output */
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#define TCOON 1 /* Restart output */
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#define TCIOFF 2 /* Transmit a STOP character, intended to
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* suspend input data */
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#define TCION 3 /* Transmit a START character, intended to
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* restart input data */
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/****************************************************************************
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* Public Type Definitions
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****************************************************************************/
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/* Baud rate selection */
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typedef unsigned long speed_t; /* Used for terminal baud rates */
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/* Types used within the termios structure */
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typedef unsigned int tcflag_t; /* Used for terminal modes */
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typedef unsigned char cc_t; /* Used for terminal special characters */
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/* The termios structure */
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struct termios {
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/* Exposed fields defined by POSIX */
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tcflag_t c_iflag; /* Input modes */
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tcflag_t c_oflag; /* Output modes */
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tcflag_t c_cflag; /* Control modes */
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tcflag_t c_lflag; /* Local modes */
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cc_t c_cc[NCCS]; /* Control chars */
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/* Implementation specific fields. For portability reasons, these fields
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* should not be accessed directly, but rather through only through the
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* cf[set|get][o|i]speed() POSIX interfaces.
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*/
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speed_t c_speed; /* Input/output speed (non-POSIX) */
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/* The cfgetspeed() function is a non-POSIX function will extract the baud
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* from the termios structure to which the termiosp argument points. NuttX
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* does not control input/output baud independently. Both must be the same.
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* The POSIX standard interfaces, cfigetispeed() and cfigetospeed() are
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* supported by simply defining them to be cfgetspeed().
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* The return value is baud value(9600).
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*/
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speed_t cfgetspeed(const struct termios *termiosp);
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#define cfgetispeed(termiosp) cfgetspeed(termiosp)
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#define cfgetospeed(termiosp) cfgetspeed(termiosp)
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/* The cfsetspeed() function is a non-POSIX function that sets the baud
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* stored in the structure pointed to by termiosp to speed. NuttX does
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* not control input/output baud independently. Both must be the same.
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* The POSIX standard interfaces, cfigetispeed() and cfigetospeed() are
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* supported by simply defining them to be cfsetspeed().
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* Speed could be baud value(9600) or could be baud mask(B9600).
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*/
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int cfsetspeed(struct termios *termiosp, speed_t speed);
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#define cfsetispeed(termiosp,speed) cfsetspeed(termiosp,speed)
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#define cfsetospeed(termiosp,speed) cfsetspeed(termiosp,speed)
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/* The cfmakeraw() function is a non-POSIX function that sets the terminal
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* to something like the "raw" mode.
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*/
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void cfmakeraw(struct termios *termiosp);
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/* Wait for transmission of output */
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int tcdrain(int fd);
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/* Suspend or restart the transmission or reception of data */
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int tcflow(int fd, int action);
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/* Flush non-transmitted output data, non-read input data or both */
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int tcflush(int fd, int cmd);
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/* Get the parameters associated with the terminal */
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int tcgetattr(int fd, struct termios *termiosp);
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/* Get process group ID for session leader for controlling terminal */
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pid_t tcgetsid(int fd);
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/* Send a "break" for a specific duration */
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int tcsendbreak(int fd, int duration);
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/* Set the parameters associated with the terminal */
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int tcsetattr(int fd, int options, const struct termios *termiosp);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCLUDE_TERMIOS_H */
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@ -2,6 +2,7 @@
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#include <time.h>
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#include <px4_log.h>
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#include <qurt_alloc.h>
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#include <termios.h>
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__attribute__((visibility("default"))) void free(void *ptr)
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{
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@ -31,3 +32,21 @@ __attribute__((visibility("default"))) int nanosleep(const struct timespec *req,
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PX4_ERR("Undefined nanosleep called");
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return -1;
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}
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__attribute__((visibility("default"))) int tcgetattr(int fd, struct termios *termiosp)
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{
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PX4_ERR("Undefined tcgetattr called");
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return -1;
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}
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__attribute__((visibility("default"))) int cfsetspeed(struct termios *termiosp, speed_t speed)
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{
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PX4_ERR("Undefined cfsetspeed called");
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return -1;
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}
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__attribute__((visibility("default"))) int tcsetattr(int fd, int options, const struct termios *termiosp)
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{
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PX4_ERR("Undefined tcsetattr called");
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return -1;
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}
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