mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-06 14:56:51 +08:00
Merge branch 'sbus' of https://github.com/PX4/Firmware into #61-px4io-spektrum-decoder
This commit is contained in:
px4dev
@@ -114,10 +114,21 @@ endif
|
||||
|
||||
upload: $(FIRMWARE_BUNDLE) $(UPLOADER)
|
||||
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
|
||||
|
||||
|
||||
#
|
||||
# JTAG firmware uploading with OpenOCD
|
||||
#
|
||||
ifeq ($(JTAGCONFIG),)
|
||||
JTAGCONFIG=interface/olimex-jtag-tiny.cfg
|
||||
endif
|
||||
|
||||
upload-jtag-px4fmu:
|
||||
@echo Attempting to flash PX4FMU board via JTAG
|
||||
@openocd -f interface/olimex-jtag-tiny.cfg -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
||||
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
||||
|
||||
upload-jtag-px4io: all
|
||||
@echo Attempting to flash PX4IO board via JTAG
|
||||
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
|
||||
|
||||
#
|
||||
# Hacks and fixups
|
||||
|
||||
@@ -338,7 +338,6 @@ PX4IO::task_main()
|
||||
/* this would be bad... */
|
||||
if (ret < 0) {
|
||||
log("poll error %d", errno);
|
||||
usleep(1000000);
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
@@ -189,8 +189,10 @@ PX4IO_Uploader::drain()
|
||||
int ret;
|
||||
|
||||
do {
|
||||
ret = recv(c, 10);
|
||||
//log("discard 0x%02x", c);
|
||||
ret = recv(c, 250);
|
||||
if (ret == OK) {
|
||||
//log("discard 0x%02x", c);
|
||||
}
|
||||
} while (ret == OK);
|
||||
}
|
||||
|
||||
|
||||
+22
-4
@@ -278,6 +278,7 @@ dsm_decode(hrt_abstime frame_time)
|
||||
last_frame_time = frame_time;
|
||||
if (channel_shift == 0) {
|
||||
dsm_guess_format(false);
|
||||
system_state.dsm_input_ok = false;
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -292,6 +293,10 @@ dsm_decode(hrt_abstime frame_time)
|
||||
* seven channels are being transmitted.
|
||||
*/
|
||||
|
||||
const unsigned dsm_chancount = (DSM_FRAME_CHANNELS < PX4IO_INPUT_CHANNELS) ? DSM_FRAME_CHANNELS : PX4IO_INPUT_CHANNELS;
|
||||
|
||||
uint16_t dsm_channels[dsm_chancount];
|
||||
|
||||
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
|
||||
|
||||
uint8_t *dp = &frame[2 + (2 * i)];
|
||||
@@ -314,10 +319,23 @@ dsm_decode(hrt_abstime frame_time)
|
||||
value /= 2;
|
||||
|
||||
/* stuff the decoded channel into the PPM input buffer */
|
||||
ppm_buffer[channel] = 988 + value;
|
||||
dsm_channels[channel] = 988 + value;
|
||||
}
|
||||
|
||||
/* and note that we have received data from the R/C controller */
|
||||
/* XXX failsafe will cause problems here - need a strategy for detecting it */
|
||||
ppm_last_valid_decode = frame_time;
|
||||
/* DSM input is valid */
|
||||
system_state.dsm_input_ok = true;
|
||||
|
||||
/* check if no S.BUS data is available */
|
||||
if (!system_state.sbus_input_ok) {
|
||||
|
||||
for (unsigned i = 0; i < dsm_chancount; i++) {
|
||||
system_state.rc_channel_data[i] = dsm_channels[i];
|
||||
}
|
||||
|
||||
/* and note that we have received data from the R/C controller */
|
||||
/* XXX failsafe will cause problems here - need a strategy for detecting it */
|
||||
system_state.rc_channels_timestamp = frame_time;
|
||||
system_state.rc_channels = dsm_chancount;
|
||||
system_state.fmu_report_due = true;
|
||||
}
|
||||
}
|
||||
|
||||
+17
-8
@@ -170,17 +170,26 @@ mixer_update(int mixer, uint16_t *inputs, int input_count)
|
||||
static void
|
||||
mixer_get_rc_input(void)
|
||||
{
|
||||
|
||||
/* if we haven't seen any new data in 200ms, assume we have lost input and tell FMU */
|
||||
if ((hrt_absolute_time() - ppm_last_valid_decode) > 200000) {
|
||||
system_state.rc_channels = 0;
|
||||
system_state.fmu_report_due = true;
|
||||
|
||||
/* input was ok and timed out, mark as update */
|
||||
if (system_state.ppm_input_ok) {
|
||||
system_state.ppm_input_ok = false;
|
||||
system_state.fmu_report_due = true;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
/* otherwise, copy channel data */
|
||||
system_state.rc_channels = ppm_decoded_channels;
|
||||
for (unsigned i = 0; i < ppm_decoded_channels; i++)
|
||||
system_state.rc_channel_data[i] = ppm_buffer[i];
|
||||
system_state.fmu_report_due = true;
|
||||
/* mark PPM as valid */
|
||||
system_state.ppm_input_ok = true;
|
||||
|
||||
/* check if no DSM and S.BUS data is available */
|
||||
if (!system_state.sbus_input_ok && !system_state.dsm_input_ok) {
|
||||
/* otherwise, copy channel data */
|
||||
system_state.rc_channels = ppm_decoded_channels;
|
||||
for (unsigned i = 0; i < ppm_decoded_channels; i++)
|
||||
system_state.rc_channel_data[i] = ppm_buffer[i];
|
||||
system_state.fmu_report_due = true;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -58,6 +58,8 @@ struct sys_state_s system_state;
|
||||
|
||||
int user_start(int argc, char *argv[])
|
||||
{
|
||||
/* reset all to zero */
|
||||
memset(&system_state, 0, sizeof(system_state));
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
@@ -72,11 +72,16 @@ struct sys_state_s
|
||||
bool armed; /* IO armed */
|
||||
bool arm_ok; /* FMU says OK to arm */
|
||||
|
||||
bool ppm_input_ok; /* valid PPM input data */
|
||||
bool dsm_input_ok; /* valid Spektrum DSM data */
|
||||
bool sbus_input_ok; /* valid Futaba S.Bus data */
|
||||
|
||||
/*
|
||||
* Data from the remote control input(s)
|
||||
*/
|
||||
int rc_channels;
|
||||
uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
|
||||
uint64_t rc_channels_timestamp;
|
||||
|
||||
/*
|
||||
* Control signals from FMU.
|
||||
|
||||
+21
-9
@@ -50,6 +50,7 @@
|
||||
#define DEBUG
|
||||
#include "px4io.h"
|
||||
#include "protocol.h"
|
||||
#include "debug.h"
|
||||
|
||||
#define SBUS_FRAME_SIZE 25
|
||||
#define SBUS_INPUT_CHANNELS 16
|
||||
@@ -192,21 +193,22 @@ static void
|
||||
sbus_decode(hrt_abstime frame_time)
|
||||
{
|
||||
/* check frame boundary markers to avoid out-of-sync cases */
|
||||
if ((frame[0] != 0xf0) || (frame[24] != 0x00)) {
|
||||
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
|
||||
sbus_frame_drops++;
|
||||
system_state.sbus_input_ok = false;
|
||||
return;
|
||||
}
|
||||
|
||||
/* if the failsafe bit is set, we consider that a loss of RX signal */
|
||||
if (frame[23] & (1 << 4))
|
||||
if (frame[23] & (1 << 4)) {
|
||||
system_state.sbus_input_ok = false;
|
||||
return;
|
||||
}
|
||||
|
||||
unsigned chancount = (PX4IO_INPUT_CHANNELS > 16) ? 16 : PX4IO_INPUT_CHANNELS;
|
||||
|
||||
/* use the decoder matrix to extract channel data */
|
||||
for (unsigned channel = 0; channel < SBUS_INPUT_CHANNELS; channel++) {
|
||||
|
||||
if (channel >= PX4IO_INPUT_CHANNELS)
|
||||
break;
|
||||
|
||||
for (unsigned channel = 0; channel < chancount; channel++) {
|
||||
unsigned value = 0;
|
||||
|
||||
for (unsigned pick = 0; pick < 3; pick++) {
|
||||
@@ -222,8 +224,18 @@ sbus_decode(hrt_abstime frame_time)
|
||||
}
|
||||
}
|
||||
/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
|
||||
ppm_buffer[channel] = (value / 2) + 998;
|
||||
system_state.rc_channel_data[channel] = (value / 2) + 998;
|
||||
}
|
||||
|
||||
if (PX4IO_INPUT_CHANNELS >= 18) {
|
||||
/* decode two switch channels */
|
||||
chancount = 18;
|
||||
}
|
||||
|
||||
system_state.rc_channels = chancount;
|
||||
system_state.sbus_input_ok = true;
|
||||
system_state.fmu_report_due = true;
|
||||
|
||||
/* and note that we have received data from the R/C controller */
|
||||
ppm_last_valid_decode = frame_time;
|
||||
system_state.rc_channels_timestamp = frame_time;
|
||||
}
|
||||
|
||||
@@ -185,11 +185,15 @@ struct up_dev_s
|
||||
uint8_t parity; /* 0=none, 1=odd, 2=even */
|
||||
uint8_t bits; /* Number of bits (7 or 8) */
|
||||
bool stopbits2; /* True: Configure with 2 stop bits instead of 1 */
|
||||
bool iflow; /* input flow control (RTS) enabled */
|
||||
bool oflow; /* output flow control (CTS) enabled */
|
||||
uint32_t baud; /* Configured baud */
|
||||
#else
|
||||
const uint8_t parity; /* 0=none, 1=odd, 2=even */
|
||||
const uint8_t bits; /* Number of bits (7 or 8) */
|
||||
const bool stopbits2; /* True: Configure with 2 stop bits instead of 1 */
|
||||
const bool iflow; /* input flow control (RTS) enabled */
|
||||
const bool oflow; /* output flow control (CTS) enabled */
|
||||
const uint32_t baud; /* Configured baud */
|
||||
#endif
|
||||
|
||||
@@ -221,7 +225,7 @@ struct up_dev_s
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
static void up_setspeed(struct uart_dev_s *dev);
|
||||
static void up_set_format(struct uart_dev_s *dev);
|
||||
static int up_setup(struct uart_dev_s *dev);
|
||||
static void up_shutdown(struct uart_dev_s *dev);
|
||||
static int up_attach(struct uart_dev_s *dev);
|
||||
@@ -393,6 +397,8 @@ static struct up_dev_s g_usart1priv =
|
||||
.parity = CONFIG_USART1_PARITY,
|
||||
.bits = CONFIG_USART1_BITS,
|
||||
.stopbits2 = CONFIG_USART1_2STOP,
|
||||
.iflow = false,
|
||||
.oflow = false,
|
||||
.baud = CONFIG_USART1_BAUD,
|
||||
.apbclock = STM32_PCLK2_FREQUENCY,
|
||||
.usartbase = STM32_USART1_BASE,
|
||||
@@ -444,6 +450,8 @@ static struct up_dev_s g_usart2priv =
|
||||
.parity = CONFIG_USART2_PARITY,
|
||||
.bits = CONFIG_USART2_BITS,
|
||||
.stopbits2 = CONFIG_USART2_2STOP,
|
||||
.iflow = false,
|
||||
.oflow = false,
|
||||
.baud = CONFIG_USART2_BAUD,
|
||||
.apbclock = STM32_PCLK1_FREQUENCY,
|
||||
.usartbase = STM32_USART2_BASE,
|
||||
@@ -495,6 +503,8 @@ static struct up_dev_s g_usart3priv =
|
||||
.parity = CONFIG_USART3_PARITY,
|
||||
.bits = CONFIG_USART3_BITS,
|
||||
.stopbits2 = CONFIG_USART3_2STOP,
|
||||
.iflow = false,
|
||||
.oflow = false,
|
||||
.baud = CONFIG_USART3_BAUD,
|
||||
.apbclock = STM32_PCLK1_FREQUENCY,
|
||||
.usartbase = STM32_USART3_BASE,
|
||||
@@ -546,17 +556,15 @@ static struct up_dev_s g_uart4priv =
|
||||
.parity = CONFIG_UART4_PARITY,
|
||||
.bits = CONFIG_UART4_BITS,
|
||||
.stopbits2 = CONFIG_UART4_2STOP,
|
||||
.iflow = false,
|
||||
.oflow = false,
|
||||
.baud = CONFIG_UART4_BAUD,
|
||||
.apbclock = STM32_PCLK1_FREQUENCY,
|
||||
.usartbase = STM32_UART4_BASE,
|
||||
.tx_gpio = GPIO_UART4_TX,
|
||||
.rx_gpio = GPIO_UART4_RX,
|
||||
#ifdef GPIO_UART4_CTS
|
||||
.cts_gpio = GPIO_UART4_CTS,
|
||||
#endif
|
||||
#ifdef GPIO_UART4_RTS
|
||||
.rts_gpio = GPIO_UART4_RTS,
|
||||
#endif
|
||||
.cts_gpio = 0, /* flow control not supported on this port */
|
||||
.rts_gpio = 0, /* flow control not supported on this port */
|
||||
#ifdef CONFIG_UART4_RXDMA
|
||||
.rxdma_channel = DMAMAP_UART4_RX,
|
||||
.rxfifo = g_uart4rxfifo,
|
||||
@@ -597,17 +605,15 @@ static struct up_dev_s g_uart5priv =
|
||||
.parity = CONFIG_UART5_PARITY,
|
||||
.bits = CONFIG_UART5_BITS,
|
||||
.stopbits2 = CONFIG_UART5_2STOP,
|
||||
.iflow = false,
|
||||
.oflow = false,
|
||||
.baud = CONFIG_UART5_BAUD,
|
||||
.apbclock = STM32_PCLK1_FREQUENCY,
|
||||
.usartbase = STM32_UART5_BASE,
|
||||
.tx_gpio = GPIO_UART5_TX,
|
||||
.rx_gpio = GPIO_UART5_RX,
|
||||
#ifdef GPIO_UART5_CTS
|
||||
.cts_gpio = GPIO_UART5_CTS,
|
||||
#endif
|
||||
#ifdef GPIO_UART5_RTS
|
||||
.rts_gpio = GPIO_UART5_RTS,
|
||||
#endif
|
||||
.cts_gpio = 0, /* flow control not supported on this port */
|
||||
.rts_gpio = 0, /* flow control not supported on this port */
|
||||
#ifdef CONFIG_UART5_RXDMA
|
||||
.rxdma_channel = DMAMAP_UART5_RX,
|
||||
.rxfifo = g_uart5rxfifo,
|
||||
@@ -648,6 +654,8 @@ static struct up_dev_s g_usart6priv =
|
||||
.parity = CONFIG_USART6_PARITY,
|
||||
.bits = CONFIG_USART6_BITS,
|
||||
.stopbits2 = CONFIG_USART6_2STOP,
|
||||
.iflow = false,
|
||||
.oflow = false,
|
||||
.baud = CONFIG_USART6_BAUD,
|
||||
.apbclock = STM32_PCLK2_FREQUENCY,
|
||||
.usartbase = STM32_USART6_BASE,
|
||||
@@ -812,21 +820,22 @@ static int up_dma_nextrx(struct up_dev_s *priv)
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_setspeed
|
||||
* Name: up_set_format
|
||||
*
|
||||
* Description:
|
||||
* Set the serial line speed.
|
||||
* Set the serial line format and speed.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef CONFIG_SUPPRESS_UART_CONFIG
|
||||
static void up_setspeed(struct uart_dev_s *dev)
|
||||
static void up_set_format(struct uart_dev_s *dev)
|
||||
{
|
||||
struct up_dev_s *priv = (struct up_dev_s*)dev->priv;
|
||||
uint32_t usartdiv32;
|
||||
uint32_t mantissa;
|
||||
uint32_t fraction;
|
||||
uint32_t brr;
|
||||
uint32_t regval;
|
||||
|
||||
/* Configure the USART Baud Rate. The baud rate for the receiver and
|
||||
* transmitter (Rx and Tx) are both set to the same value as programmed
|
||||
@@ -844,20 +853,64 @@ static void up_setspeed(struct uart_dev_s *dev)
|
||||
* usartdiv32 = 32 * usartdiv = fCK / (baud/2)
|
||||
*/
|
||||
|
||||
usartdiv32 = priv->apbclock / (priv->baud >> 1);
|
||||
usartdiv32 = priv->apbclock / (priv->baud >> 1);
|
||||
|
||||
/* The mantissa part is then */
|
||||
/* The mantissa part is then */
|
||||
|
||||
mantissa = usartdiv32 >> 5;
|
||||
brr = mantissa << USART_BRR_MANT_SHIFT;
|
||||
mantissa = usartdiv32 >> 5;
|
||||
brr = mantissa << USART_BRR_MANT_SHIFT;
|
||||
|
||||
/* The fractional remainder (with rounding) */
|
||||
/* The fractional remainder (with rounding) */
|
||||
|
||||
fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
|
||||
brr |= fraction << USART_BRR_FRAC_SHIFT;
|
||||
up_serialout(priv, STM32_USART_BRR_OFFSET, brr);
|
||||
|
||||
/* Configure parity mode */
|
||||
|
||||
regval = up_serialin(priv, STM32_USART_CR1_OFFSET);
|
||||
regval &= ~(USART_CR1_PCE|USART_CR1_PS);
|
||||
|
||||
if (priv->parity == 1) /* Odd parity */
|
||||
{
|
||||
regval |= (USART_CR1_PCE|USART_CR1_PS);
|
||||
}
|
||||
else if (priv->parity == 2) /* Even parity */
|
||||
{
|
||||
regval |= USART_CR1_PCE;
|
||||
}
|
||||
|
||||
up_serialout(priv, STM32_USART_CR1_OFFSET, regval);
|
||||
|
||||
/* Configure STOP bits */
|
||||
|
||||
regval = up_serialin(priv, STM32_USART_CR2_OFFSET);
|
||||
regval &= ~(USART_CR2_STOP_MASK);
|
||||
|
||||
if (priv->stopbits2)
|
||||
{
|
||||
regval |= USART_CR2_STOP2;
|
||||
}
|
||||
up_serialout(priv, STM32_USART_CR2_OFFSET, regval);
|
||||
|
||||
/* Configure hardware flow control */
|
||||
|
||||
regval = up_serialin(priv, STM32_USART_CR3_OFFSET);
|
||||
regval &= ~(USART_CR3_CTSE|USART_CR3_RTSE);
|
||||
|
||||
if (priv->iflow && (priv->rts_gpio != 0))
|
||||
{
|
||||
regval |= USART_CR3_RTSE;
|
||||
}
|
||||
if (priv->oflow && (priv->cts_gpio != 0))
|
||||
{
|
||||
regval |= USART_CR3_CTSE;
|
||||
}
|
||||
|
||||
up_serialout(priv, STM32_USART_CR3_OFFSET, regval);
|
||||
|
||||
fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
|
||||
brr |= fraction << USART_BRR_FRAC_SHIFT;
|
||||
up_serialout(priv, STM32_USART_BRR_OFFSET, brr);
|
||||
}
|
||||
#endif
|
||||
#endif /* CONFIG_SUPPRESS_UART_CONFIG */
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_setup
|
||||
@@ -894,43 +947,28 @@ static int up_setup(struct uart_dev_s *dev)
|
||||
}
|
||||
|
||||
/* Configure CR2 */
|
||||
/* Clear STOP, CLKEN, CPOL, CPHA, LBCL, and interrupt enable bits */
|
||||
/* Clear CLKEN, CPOL, CPHA, LBCL, and interrupt enable bits */
|
||||
|
||||
regval = up_serialin(priv, STM32_USART_CR2_OFFSET);
|
||||
regval &= ~(USART_CR2_STOP_MASK|USART_CR2_CLKEN|USART_CR2_CPOL|
|
||||
regval &= ~(USART_CR2_CLKEN|USART_CR2_CPOL|
|
||||
USART_CR2_CPHA|USART_CR2_LBCL|USART_CR2_LBDIE);
|
||||
|
||||
/* Configure STOP bits */
|
||||
|
||||
if (priv->stopbits2)
|
||||
{
|
||||
regval |= USART_CR2_STOP2;
|
||||
}
|
||||
up_serialout(priv, STM32_USART_CR2_OFFSET, regval);
|
||||
|
||||
/* Configure CR1 */
|
||||
/* Clear M, PCE, PS, TE, REm and all interrupt enable bits */
|
||||
/* Clear M, TE, REm and all interrupt enable bits */
|
||||
|
||||
regval = up_serialin(priv, STM32_USART_CR1_OFFSET);
|
||||
regval &= ~(USART_CR1_M|USART_CR1_PCE|USART_CR1_PS|USART_CR1_TE|
|
||||
regval &= ~(USART_CR1_M|USART_CR1_TE|
|
||||
USART_CR1_RE|USART_CR1_ALLINTS);
|
||||
|
||||
/* Configure word length and parity mode */
|
||||
/* Configure word length */
|
||||
|
||||
if (priv->bits == 9) /* Default: 1 start, 8 data, n stop */
|
||||
{
|
||||
regval |= USART_CR1_M; /* 1 start, 9 data, n stop */
|
||||
}
|
||||
|
||||
if (priv->parity == 1) /* Odd parity */
|
||||
{
|
||||
regval |= (USART_CR1_PCE|USART_CR1_PS);
|
||||
}
|
||||
else if (priv->parity == 2) /* Even parity */
|
||||
{
|
||||
regval |= USART_CR1_PCE;
|
||||
}
|
||||
|
||||
up_serialout(priv, STM32_USART_CR1_OFFSET, regval);
|
||||
|
||||
/* Configure CR3 */
|
||||
@@ -943,16 +981,17 @@ static int up_setup(struct uart_dev_s *dev)
|
||||
|
||||
up_serialout(priv, STM32_USART_CR3_OFFSET, regval);
|
||||
|
||||
/* Configure the USART Baud Rate. */
|
||||
/* Configure the USART line format and speed. */
|
||||
|
||||
up_setspeed(dev);
|
||||
up_set_format(dev);
|
||||
|
||||
/* Enable Rx, Tx, and the USART */
|
||||
|
||||
regval = up_serialin(priv, STM32_USART_CR1_OFFSET);
|
||||
regval |= (USART_CR1_UE|USART_CR1_TE|USART_CR1_RE);
|
||||
up_serialout(priv, STM32_USART_CR1_OFFSET, regval);
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_SUPPRESS_UART_CONFIG */
|
||||
|
||||
/* Set up the cached interrupt enables value */
|
||||
|
||||
@@ -1279,12 +1318,21 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* TODO: Other termios fields are not yet returned.
|
||||
* Note that only cfsetospeed is not necessary because we have
|
||||
* knowledge that only one speed is supported.
|
||||
cfsetispeed(termiosp, priv->baud);
|
||||
|
||||
/* Note that since we only support 8/9 bit modes and
|
||||
* there is no way to report 9-bit mode, we always claim 8.
|
||||
*/
|
||||
|
||||
cfsetispeed(termiosp, priv->baud);
|
||||
termiosp->c_cflag =
|
||||
((priv->parity != 0) ? PARENB : 0) |
|
||||
((priv->parity == 1) ? PARODD : 0) |
|
||||
((priv->stopbits2) ? CSTOPB : 0) |
|
||||
((priv->oflow) ? CCTS_OFLOW : 0) |
|
||||
((priv->iflow) ? CRTS_IFLOW : 0) |
|
||||
CS8;
|
||||
|
||||
/* TODO: CCTS_IFLOW, CCTS_OFLOW */
|
||||
}
|
||||
break;
|
||||
|
||||
@@ -1298,16 +1346,48 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* TODO: Handle other termios settings.
|
||||
* Note that only cfgetispeed is used besued we have knowledge
|
||||
/* Perform some sanity checks before accepting any changes */
|
||||
|
||||
if (((termiosp->c_cflag & CSIZE) != CS8) ||
|
||||
((termiosp->c_cflag & CCTS_OFLOW) && (priv->cts_gpio == 0)) ||
|
||||
((termiosp->c_cflag & CRTS_IFLOW) && (priv->rts_gpio == 0)))
|
||||
{
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
if (termiosp->c_cflag & PARENB)
|
||||
{
|
||||
priv->parity = (termiosp->c_cflag & PARODD) ? 1 : 2;
|
||||
}
|
||||
else
|
||||
{
|
||||
priv->parity = 0;
|
||||
}
|
||||
|
||||
priv->stopbits2 = (termiosp->c_cflag & CSTOPB) != 0;
|
||||
priv->oflow = (termiosp->c_cflag & CCTS_OFLOW) != 0;
|
||||
priv->iflow = (termiosp->c_cflag & CRTS_IFLOW) != 0;
|
||||
|
||||
/* Note that since there is no way to request 9-bit mode
|
||||
* and no way to support 5/6/7-bit modes, we ignore them
|
||||
* all here.
|
||||
*/
|
||||
|
||||
/* Note that only cfgetispeed is used because we have knowledge
|
||||
* that only one speed is supported.
|
||||
*/
|
||||
|
||||
priv->baud = cfgetispeed(termiosp);
|
||||
up_setspeed(dev);
|
||||
|
||||
/* effect the changes immediately - note that we do not implement
|
||||
* TCSADRAIN / TCSAFLUSH
|
||||
*/
|
||||
|
||||
up_set_format(dev);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
#endif /* CONFIG_SERIAL_TERMIOS */
|
||||
|
||||
#ifdef CONFIG_USART_BREAKS
|
||||
case TIOCSBRK: /* BSD compatibility: Turn break on, unconditionally */
|
||||
@@ -1945,10 +2025,10 @@ void stm32_serial_dma_poll(void)
|
||||
int up_putc(int ch)
|
||||
{
|
||||
#if CONSOLE_UART > 0
|
||||
// struct up_dev_s *priv = uart_devs[CONSOLE_UART - 1];
|
||||
// uint16_t ie;
|
||||
struct up_dev_s *priv = uart_devs[CONSOLE_UART - 1];
|
||||
uint16_t ie;
|
||||
|
||||
// up_disableusartint(priv, &ie);
|
||||
up_disableusartint(priv, &ie);
|
||||
|
||||
/* Check for LF */
|
||||
|
||||
@@ -1960,7 +2040,7 @@ int up_putc(int ch)
|
||||
}
|
||||
|
||||
up_lowputc(ch);
|
||||
// up_restoreusartint(priv, ie);
|
||||
up_restoreusartint(priv, ie);
|
||||
#endif
|
||||
return ch;
|
||||
}
|
||||
|
||||
+218
-73
@@ -252,7 +252,7 @@ static inline ssize_t uart_irqwrite(FAR uart_dev_t *dev, FAR const char *buffer,
|
||||
{
|
||||
int ch = *buffer++;
|
||||
|
||||
/* If this is the console, then we should replace LF with CR-LF */
|
||||
/* assume that this is console text output and always do \n -> \r\n conversion */
|
||||
|
||||
if (ch == '\n')
|
||||
{
|
||||
@@ -277,6 +277,7 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer, size_t
|
||||
FAR uart_dev_t *dev = inode->i_private;
|
||||
ssize_t nread = buflen;
|
||||
int ret;
|
||||
char ch;
|
||||
|
||||
/* We may receive console writes through this path from interrupt handlers and
|
||||
* from debug output in the IDLE task! In these cases, we will need to do things
|
||||
@@ -308,8 +309,7 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer, size_t
|
||||
if (ret < 0)
|
||||
{
|
||||
/* A signal received while waiting for access to the xmit.head will
|
||||
* abort the transfer. After the transfer has started, we are committed
|
||||
* and signals will be ignored.
|
||||
* abort the transfer.
|
||||
*/
|
||||
|
||||
return ret;
|
||||
@@ -323,53 +323,64 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer, size_t
|
||||
uart_disabletxint(dev);
|
||||
for (; buflen; buflen--)
|
||||
{
|
||||
int ch = *buffer++;
|
||||
ch = *buffer++;
|
||||
|
||||
/* If the ONLCR flag is set, we should translate \n to \r\n */
|
||||
/* Do output post-processing */
|
||||
|
||||
ret = OK;
|
||||
if ((ch == '\n') && (dev->termios_s.c_oflag & ONLCR))
|
||||
#ifdef CONFIG_SERIAL_TERMIOS
|
||||
|
||||
if (dev->tc_oflag & OPOST)
|
||||
{
|
||||
|
||||
/* Mapping CR to NL? */
|
||||
|
||||
if ((ch == '\r') && (dev->tc_oflag & OCRNL))
|
||||
{
|
||||
ch = '\n';
|
||||
}
|
||||
|
||||
/* Are we interested in newline processing? */
|
||||
|
||||
if ((ch == '\n') && (dev->tc_oflag & (ONLCR | ONLRET)))
|
||||
{
|
||||
ret = uart_putxmitchar(dev, '\r');
|
||||
|
||||
if (ret != OK)
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Specifically not handled:
|
||||
*
|
||||
* OXTABS - primarily a full-screen terminal optimisation
|
||||
* ONOEOT - Unix interoperability hack
|
||||
* OLCUC - Not specified by Posix
|
||||
* ONOCR - low-speed interactive optimisation
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
#else /* !CONFIG_SERIAL_TERMIOS */
|
||||
|
||||
/* If this is the console, convert \n -> \r\n */
|
||||
|
||||
if (dev->isconsole && ch == '\n')
|
||||
{
|
||||
ret = uart_putxmitchar(dev, '\r');
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Put the character into the transmit buffer */
|
||||
|
||||
if (ret == OK)
|
||||
{
|
||||
ret = uart_putxmitchar(dev, ch);
|
||||
}
|
||||
|
||||
/* Were we awakened by a signal? That should be the only condition that
|
||||
* uart_putxmitchar() should return an error.
|
||||
*/
|
||||
|
||||
if (ret < 0)
|
||||
{
|
||||
/* POSIX requires that we return -1 and errno set if no data was
|
||||
* transferred. Otherwise, we return the number of bytes in the
|
||||
* interrupted transfer.
|
||||
*/
|
||||
|
||||
if (buflen < nread)
|
||||
{
|
||||
/* Some data was transferred. Return the number of bytes that were
|
||||
* successfully transferred.
|
||||
*/
|
||||
|
||||
nread -= buflen;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* No data was transferred. Return -EINTR. The VFS layer will
|
||||
* set the errno value appropriately).
|
||||
*/
|
||||
|
||||
nread = -EINTR;
|
||||
}
|
||||
ret = uart_putxmitchar(dev, ch);
|
||||
|
||||
if (ret != OK)
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (dev->xmit.head != dev->xmit.tail)
|
||||
@@ -378,6 +389,36 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer, size_t
|
||||
}
|
||||
|
||||
uart_givesem(&dev->xmit.sem);
|
||||
|
||||
/* Were we interrupted by a signal? That should be the only condition that
|
||||
* uart_putxmitchar() should return an error.
|
||||
*/
|
||||
|
||||
if (ret < 0)
|
||||
{
|
||||
/* POSIX requires that we return -1 and errno set if no data was
|
||||
* transferred. Otherwise, we return the number of bytes in the
|
||||
* interrupted transfer.
|
||||
*/
|
||||
|
||||
if (buflen < nread)
|
||||
{
|
||||
/* Some data was transferred. Return the number of bytes that were
|
||||
* successfully transferred.
|
||||
*/
|
||||
|
||||
nread -= buflen;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* No data was transferred. Return -EINTR. The VFS layer will
|
||||
* set the errno value appropriately).
|
||||
*/
|
||||
|
||||
nread = -EINTR;
|
||||
}
|
||||
}
|
||||
|
||||
return nread;
|
||||
}
|
||||
|
||||
@@ -393,6 +434,7 @@ static ssize_t uart_read(FAR struct file *filep, FAR char *buffer, size_t buflen
|
||||
ssize_t recvd = 0;
|
||||
int16_t tail;
|
||||
int ret;
|
||||
char ch;
|
||||
|
||||
/* Only one user can access dev->recv.tail at a time */
|
||||
|
||||
@@ -430,8 +472,7 @@ static ssize_t uart_read(FAR struct file *filep, FAR char *buffer, size_t buflen
|
||||
{
|
||||
/* Take the next character from the tail of the buffer */
|
||||
|
||||
*buffer++ = dev->recv.buffer[tail];
|
||||
recvd++;
|
||||
ch = dev->recv.buffer[tail];
|
||||
|
||||
/* Increment the tail index. Most operations are done using the
|
||||
* local variable 'tail' so that the final dev->recv.tail update
|
||||
@@ -444,6 +485,49 @@ static ssize_t uart_read(FAR struct file *filep, FAR char *buffer, size_t buflen
|
||||
}
|
||||
|
||||
dev->recv.tail = tail;
|
||||
|
||||
#ifdef CONFIG_SERIAL_TERMIOS
|
||||
|
||||
/* Do input processing if any is enabled */
|
||||
|
||||
if (dev->tc_iflag & (INLCR | IGNCR | ICRNL))
|
||||
{
|
||||
|
||||
/* \n -> \r or \r -> \n translation? */
|
||||
|
||||
if ((ch == '\n') && (dev->tc_iflag & INLCR))
|
||||
{
|
||||
ch = '\r';
|
||||
}
|
||||
else if ((ch == '\r') && (dev->tc_iflag & ICRNL))
|
||||
{
|
||||
ch = '\n';
|
||||
}
|
||||
|
||||
/* discarding \r ? */
|
||||
if ((ch == '\r') & (dev->tc_iflag & IGNCR))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* Specifically not handled:
|
||||
*
|
||||
* All of the local modes; echo, line editing, etc.
|
||||
* Anything to do with break or parity errors.
|
||||
* ISTRIP - we should be 8-bit clean.
|
||||
* IUCLC - Not Posix
|
||||
* IXON/OXOFF - no xon/xoff flow control.
|
||||
*/
|
||||
|
||||
#endif
|
||||
|
||||
/* store the received character */
|
||||
|
||||
*buffer++ = ch;
|
||||
recvd++;
|
||||
|
||||
}
|
||||
|
||||
#ifdef CONFIG_DEV_SERIAL_FULLBLOCKS
|
||||
@@ -573,43 +657,77 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
||||
|
||||
/* Handle TTY-level IOCTLs here */
|
||||
/* Let low-level driver handle the call first */
|
||||
|
||||
int ret = dev->ops->ioctl(filep, cmd, arg);
|
||||
|
||||
/* Append any higher level TTY flags */
|
||||
switch (cmd)
|
||||
|
||||
if (ret == OK)
|
||||
{
|
||||
case TCGETS:
|
||||
{
|
||||
struct termios *termiosp = (struct termios*)arg;
|
||||
switch (cmd)
|
||||
{
|
||||
|
||||
if (!termiosp)
|
||||
{
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
case FIONREAD:
|
||||
{
|
||||
int count;
|
||||
irqstate_t state = irqsave();
|
||||
|
||||
/* Fetch the out flags */
|
||||
termiosp->c_oflag = dev->termios_s.c_oflag;
|
||||
/* Fetch the in flags */
|
||||
termiosp->c_iflag = dev->termios_s.c_iflag;
|
||||
}
|
||||
break;
|
||||
/* determine the number of bytes available in the buffer */
|
||||
|
||||
case TCSETS:
|
||||
{
|
||||
struct termios *termiosp = (struct termios*)arg;
|
||||
if (dev->recv.tail <= dev->recv.head)
|
||||
{
|
||||
count = dev->recv.head - dev->recv.tail;
|
||||
}
|
||||
else
|
||||
{
|
||||
count = dev->recv.size - (dev->recv.tail - dev->recv.head);
|
||||
}
|
||||
|
||||
if (!termiosp)
|
||||
{
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
irqrestore(state);
|
||||
|
||||
/* Set the out flags */
|
||||
dev->termios_s.c_oflag = termiosp->c_oflag;
|
||||
/* Set the in flags */
|
||||
dev->termios_s.c_iflag = termiosp->c_iflag;
|
||||
}
|
||||
break;
|
||||
*(int *)arg = count;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_SERIAL_TERMIOS
|
||||
case TCGETS:
|
||||
{
|
||||
struct termios *termiosp = (struct termios*)arg;
|
||||
|
||||
if (!termiosp)
|
||||
{
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* and update with flags from this layer */
|
||||
|
||||
termiosp->c_iflag = dev->tc_iflag;
|
||||
termiosp->c_oflag = dev->tc_oflag;
|
||||
termiosp->c_lflag = dev->tc_lflag;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case TCSETS:
|
||||
{
|
||||
struct termios *termiosp = (struct termios*)arg;
|
||||
|
||||
if (!termiosp)
|
||||
{
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* update the flags we keep at this layer */
|
||||
|
||||
dev->tc_iflag = termiosp->c_iflag;
|
||||
dev->tc_oflag = termiosp->c_oflag;
|
||||
dev->tc_lflag = termiosp->c_lflag;
|
||||
}
|
||||
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
@@ -900,6 +1018,25 @@ static int uart_open(FAR struct file *filep)
|
||||
dev->recv.head = 0;
|
||||
dev->recv.tail = 0;
|
||||
|
||||
/* initialise termios state */
|
||||
|
||||
#ifdef CONFIG_SERIAL_TERMIOS
|
||||
|
||||
dev->tc_iflag = 0;
|
||||
if (dev->isconsole == true)
|
||||
{
|
||||
|
||||
/* enable \n -> \r\n translation for the console */
|
||||
|
||||
dev->tc_oflag = OPOST | ONLCR;
|
||||
}
|
||||
else
|
||||
{
|
||||
dev->tc_oflag = 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Enable the RX interrupt */
|
||||
|
||||
uart_enablerxint(dev);
|
||||
@@ -937,14 +1074,22 @@ int uart_register(FAR const char *path, FAR uart_dev_t *dev)
|
||||
#ifndef CONFIG_DISABLE_POLL
|
||||
sem_init(&dev->pollsem, 0, 1);
|
||||
#endif
|
||||
|
||||
/* Setup termios flags */
|
||||
memset(&dev->termios_s, 0, sizeof(dev->termios_s));
|
||||
|
||||
#ifdef CONFIG_SERIAL_TERMIOS
|
||||
|
||||
if (dev->isconsole == true)
|
||||
{
|
||||
/* Device is console, set up termios flags */
|
||||
dev->termios_s.c_oflag |= ONLCR;
|
||||
|
||||
/* enable \n -> \r\n translation for the console as early as possible */
|
||||
|
||||
dev->tc_oflag = OPOST | ONLCR;
|
||||
dev->tc_iflag = 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
dbg("Registering %s\n", path);
|
||||
return register_driver(path, &g_serialops, 0666, dev);
|
||||
}
|
||||
|
||||
@@ -106,6 +106,10 @@
|
||||
* OUT: None
|
||||
*/
|
||||
|
||||
#define FIONREAD _FIOC(0x0004) /* IN: Location to return value (int *)
|
||||
* OUT: Bytes readable from this fd
|
||||
*/
|
||||
|
||||
/* NuttX file system ioctl definitions **************************************/
|
||||
|
||||
#define _DIOCVALID(c) (_IOC_TYPE(c)==_DIOCBASE)
|
||||
|
||||
@@ -46,7 +46,9 @@
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <semaphore.h>
|
||||
#include <termios.h>
|
||||
#ifdef CONFIG_SERIAL_TERMIOS
|
||||
# include <termios.h>
|
||||
#endif
|
||||
#include <nuttx/fs/fs.h>
|
||||
|
||||
/************************************************************************************
|
||||
@@ -216,7 +218,12 @@ struct uart_dev_s
|
||||
#endif
|
||||
|
||||
/* Terminal control flags */
|
||||
struct termios termios_s;
|
||||
|
||||
#ifdef CONFIG_SERIAL_TERMIOS
|
||||
tcflag_t tc_iflag; /* Input modes */
|
||||
tcflag_t tc_oflag; /* Output modes */
|
||||
tcflag_t tc_lflag; /* Local modes */
|
||||
#endif
|
||||
|
||||
};
|
||||
typedef struct uart_dev_s uart_dev_t;
|
||||
|
||||
+16
-14
@@ -58,7 +58,7 @@
|
||||
#define INLCR (1 << 5) /* Bit 5: Map NL to CR on input */
|
||||
#define INPCK (1 << 6) /* Bit 6: Enable input parity check */
|
||||
#define ISTRIP (1 << 7) /* Bit 7: Strip character */
|
||||
#define IUCLC (1 << 8) /* Bit 8: Map upper-case to lower-case on input (LEGACY) */
|
||||
/* Bit 8: unused */
|
||||
#define IXANY (1 << 9) /* Bit 9: Enable any character to restart output */
|
||||
#define IXOFF (1 << 10) /* Bit 10: Enable start/stop input control */
|
||||
#define IXON (1 << 11) /* Bit 11: Enable start/stop output control */
|
||||
@@ -67,7 +67,7 @@
|
||||
/* Terminal output modes (c_oflag in the termios structure) */
|
||||
|
||||
#define OPOST (1 << 0) /* Bit 0: Post-process output */
|
||||
#define OLCUC (1 << 1) /* Bit 1: Map lower-case to upper-case on output (LEGACY) */
|
||||
/* Bit 1: unused */
|
||||
#define ONLCR (1 << 2) /* Bit 2: Map NL to CR-NL on output */
|
||||
#define OCRNL (1 << 3) /* Bit 3: Map CR to NL on output */
|
||||
#define ONOCR (1 << 4) /* Bit 4: No CR output at column 0 */
|
||||
@@ -98,17 +98,20 @@
|
||||
|
||||
/* Control Modes (c_cflag in the termios structure) */
|
||||
|
||||
#define CSIZE (3 << 0) /* Bits 0-1: Character size: */
|
||||
# define CS5 (0 << 0) /* 5 bits */
|
||||
# define CS6 (1 << 0) /* 6 bits */
|
||||
# define CS7 (2 << 0) /* 7 bits */
|
||||
# define CS8 (3 << 0) /* 8 bits */
|
||||
#define CSTOPB (1 << 2) /* Bit 2: Send two stop bits, else one */
|
||||
#define CREAD (1 << 3) /* Bit 3: Enable receiver */
|
||||
#define PARENB (1 << 4) /* Bit 4: Parity enable */
|
||||
#define PARODD (1 << 5) /* Bit 5: Odd parity, else even */
|
||||
#define HUPCL (1 << 6) /* Bit 6: Hang up on last close */
|
||||
#define CLOCAL (1 << 7) /* Bit 7: Ignore modem status lines */
|
||||
#define CSIZE (3 << 0) /* Bits 0-1: Character size: */
|
||||
# define CS5 (0 << 0) /* 5 bits */
|
||||
# define CS6 (1 << 0) /* 6 bits */
|
||||
# define CS7 (2 << 0) /* 7 bits */
|
||||
# define CS8 (3 << 0) /* 8 bits */
|
||||
#define CSTOPB (1 << 2) /* Bit 2: Send two stop bits, else one */
|
||||
#define CREAD (1 << 3) /* Bit 3: Enable receiver */
|
||||
#define PARENB (1 << 4) /* Bit 4: Parity enable */
|
||||
#define PARODD (1 << 5) /* Bit 5: Odd parity, else even */
|
||||
#define HUPCL (1 << 6) /* Bit 6: Hang up on last close */
|
||||
#define CLOCAL (1 << 7) /* Bit 7: Ignore modem status lines */
|
||||
#define CCTS_OFLOW (1 << 8) /* Bit 8: CTS flow control of output */
|
||||
#define CRTSCTS CCTS_OFLOW
|
||||
#define CRTS_IFLOW (1 << 9) /* Bit 9: RTS flow control of input */
|
||||
|
||||
/* Local Modes (c_lflag in the termios structure) */
|
||||
|
||||
@@ -121,7 +124,6 @@
|
||||
#define ISIG (1 << 6) /* Bit 6: Enable signals */
|
||||
#define NOFLSH (1 << 7) /* Bit 7: Disable flush after interrupt or quit */
|
||||
#define TOSTOP (1 << 8) /* Bit 8: Send SIGTTOU for background output */
|
||||
#define XCASE (1 << 9) /* Bit 9: Canonical upper/lower presentation (LEGACY) */
|
||||
|
||||
/* The following are subscript names for the termios c_cc array */
|
||||
|
||||
|
||||
Reference in New Issue
Block a user