Serial interface for IOv2

2026-10-25 06:33:33 +08:00 · 2013-04-28 18:14:46 -07:00
parent 8f7200e011
commit e67022f874
8 changed files with 249 additions and 45 deletions
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file serial.c
+ *
+ * Serial communication for the PX4IO module.
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <string.h>
+
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+
+#include <systemlib/hx_stream.h>
+
+//#define DEBUG
+#include "px4io.h"
+
+static uint8_t		tx_buf[66];		/* XXX hardcoded magic number */
+
+static hx_stream_t	if_stream;
+
+static void		serial_callback(void *arg, const void *data, unsigned length);
+
+void
+interface_init(void)
+{
+
+	int fd = open("/dev/ttyS1", O_RDWR, O_NONBLOCK);
+	if (fd < 0) {
+		debug("serial fail");
+		return;
+	}
+
+	/* configure serial port - XXX increase port speed? */
+	struct termios t;
+	tcgetattr(fd, &t);
+	cfsetspeed(&t, 115200);
+	t.c_cflag &= ~(CSTOPB | PARENB);
+	tcsetattr(fd, TCSANOW, &t);
+
+	/* allocate the HX stream we'll use for communication */
+	if_stream = hx_stream_init(fd, serial_callback, NULL);
+
+	/* XXX add stream stats counters? */
+
+	debug("serial init");
+}
+
+void
+interface_tick()
+{
+	/* process incoming bytes */
+	hx_stream_rx(if_stream);
+}
+
+static void
+serial_callback(void *arg, const void *data, unsigned length)
+{
+	const uint8_t *message = (const uint8_t *)data;
+
+	/* malformed frame, ignore it */
+	if (length < 2)
+		return;
+
+	/* it's a write operation, pass it to the register API */
+	if (message[0] & PX4IO_PAGE_WRITE) {
+		registers_set(message[0] & ~PX4IO_PAGE_WRITE, message[1],
+			(const uint16_t *)&message[2],
+			(length - 2) / 2);
+
+		return;
+	}
+
+	/* it's a read */
+	uint16_t *registers;
+	unsigned count;
+
+	tx_buf[0] = message[0];
+	tx_buf[1] = message[1];
+
+	/* get registers for response, send an empty reply on error */
+	if (registers_get(message[0], message[1], &registers, &count) < 0)
+		count = 0;
+
+	/* fill buffer with message */
+#define TX_MAX		((sizeof(tx_buf) - 2) / 2)
+	if (count > TX_MAX)
+		count = TX_MAX;
+	memcpy(&tx_buf[2], registers, count * 2);
+
+	/* try to send the message */
+	hx_stream_send(if_stream, tx_buf, count * 2 + 2);
+}