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@@ -23,7 +23,6 @@
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* omap uart handling
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*/
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// FIXME: uart.h defines B9600 as 9600
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#include "mcu_periph/uart.h"
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#include <stdint.h>
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@@ -32,70 +31,50 @@
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#include <stdlib.h>
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#include <string.h>
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// FIXME: fms_serial_port includes termios.h that with omap defines B9600 as 12
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// Include termios.h AFTER uart.h. This OVERWRITES (without warning) the paparazzi uart.h B9600
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#include "serial_port.h"
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// #define TRACE(fmt,args...) fprintf(stderr, fmt, args)
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#define TRACE(fmt,args...)
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// Convert the paparazzi B9600 which becomes 9600 to termios B9600 which becomes 12
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// FIXME: not all possible baudrate are available yet.
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speed_t baudconvert_drone(uint32_t baud);
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speed_t baudconvert_drone(uint32_t baud)
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{
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if (baud <= 4800)
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return B4800;
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else if (baud <= 9600)
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return B9600;
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else if (baud <= 19200)
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return B19200;
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else if (baud <= 38400)
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return B38400;
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else if (baud <= 57600)
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return B57600;
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return B115200;
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}
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void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
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struct SerialPort* fmssp;
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void uart_periph_set_baudrate(struct uart_periph* periph, uint32_t baud) {
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struct SerialPort* port;
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// close serial port if already open
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if (p->reg_addr != NULL) {
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fmssp = (struct SerialPort*)(p->reg_addr);
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serial_port_close(fmssp);
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serial_port_free(fmssp);
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if (periph->reg_addr != NULL) {
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port = (struct SerialPort*)(periph->reg_addr);
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serial_port_close(port);
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serial_port_free(port);
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}
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// open serial port
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fmssp = serial_port_new();
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port = serial_port_new();
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// use register address to store SerialPort structure pointer...
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p->reg_addr = (void*)fmssp;
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periph->reg_addr = (void*)port;
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//TODO: set device name in application and pass as argument
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// FIXME: paparazzi baud is 9600 for B9600 while open_raw needs 12 for B9600
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printf("opening %s on uart0 at %d (termios.h value=%d)\n",p->dev,baud,baudconvert_drone(baud));
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int ret = serial_port_open_raw(fmssp,p->dev,baudconvert_drone(baud));
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printf("opening %s on uart0 at termios.h baud value=%d\n", periph->dev, baud);
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int ret = serial_port_open_raw(port,periph->dev, baud);
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if (ret != 0)
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{
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TRACE("Error opening %s code %d\n",p->dev,ret);
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TRACE("Error opening %s code %d\n",periph->dev,ret);
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}
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}
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void uart_transmit(struct uart_periph* p, uint8_t data ) {
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uint16_t temp = (p->tx_insert_idx + 1) % UART_TX_BUFFER_SIZE;
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void uart_transmit(struct uart_periph* periph, uint8_t data) {
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uint16_t temp = (periph->tx_insert_idx + 1) % UART_TX_BUFFER_SIZE;
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if (temp == p->tx_extract_idx)
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if (temp == periph->tx_extract_idx)
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return; // no room
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// check if in process of sending data
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if (p->tx_running) { // yes, add to queue
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p->tx_buf[p->tx_insert_idx] = data;
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p->tx_insert_idx = temp;
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if (periph->tx_running) { // yes, add to queue
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periph->tx_buf[periph->tx_insert_idx] = data;
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periph->tx_insert_idx = temp;
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}
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else { // no, set running flag and write to output register
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p->tx_running = TRUE;
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struct SerialPort* fmssp = (struct SerialPort*)(p->reg_addr);
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int ret = write((int)(fmssp->fd),&data,1);
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periph->tx_running = TRUE;
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struct SerialPort* port = (struct SerialPort*)(periph->reg_addr);
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int ret = write((int)(port->fd), &data, 1);
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if (ret < 1)
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{
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TRACE("w %x [%d]\n",data,ret);
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@@ -105,35 +84,35 @@ void uart_transmit(struct uart_periph* p, uint8_t data ) {
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#include <errno.h>
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static inline void uart_handler(struct uart_periph* p) {
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static inline void uart_handler(struct uart_periph* periph) {
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unsigned char c='D';
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if (p->reg_addr == NULL) return; // device not initialized ?
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if (periph->reg_addr == NULL) return; // device not initialized ?
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struct SerialPort* fmssp = (struct SerialPort*)(p->reg_addr);
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int fd = fmssp->fd;
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struct SerialPort* port = (struct SerialPort*)(periph->reg_addr);
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int fd = port->fd;
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// check if more data to send
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if (p->tx_insert_idx != p->tx_extract_idx) {
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int ret = write(fd,&(p->tx_buf[p->tx_extract_idx]),1);
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if (periph->tx_insert_idx != periph->tx_extract_idx) {
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int ret = write(fd, &(periph->tx_buf[periph->tx_extract_idx]), 1);
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if (ret < 1)
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{
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TRACE("w %x [%d: %s]\n",p->tx_buf[p->tx_extract_idx],ret,strerror(errno));
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TRACE("w %x [%d: %s]\n", periph->tx_buf[periph->tx_extract_idx], ret, strerror(errno));
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}
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p->tx_extract_idx++;
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p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
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periph->tx_extract_idx++;
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periph->tx_extract_idx %= UART_TX_BUFFER_SIZE;
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}
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else {
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p->tx_running = FALSE; // clear running flag
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periph->tx_running = FALSE; // clear running flag
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}
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if(read(fd,&c,1) > 0){
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//printf("r %x %c\n",c,c);
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uint16_t temp = (p->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE;
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p->rx_buf[p->rx_insert_idx] = c;
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uint16_t temp = (periph->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE;
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periph->rx_buf[periph->rx_insert_idx] = c;
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// check for more room in queue
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if (temp != p->rx_extract_idx)
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p->rx_insert_idx = temp; // update insert index
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if (temp != periph->rx_extract_idx)
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periph->rx_insert_idx = temp; // update insert index
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}
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}
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Felix Ruess