/*
* Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
* Contributions: Jon Trulson <jtrulson@ics.com>
* Brendan le Foll <brendan.le.foll@intel.com>
* Copyright (c) 2014 - 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <stdlib.h>
#include <sys/stat.h>
#include <unistd.h>
#include <string.h>
#include <termios.h>
#include "uart.h"
#include "mraa_internal.h"
// This function takes an unsigned int and converts it to a B* speed_t
// that can be used with linux/posix termios
static speed_t
uint2speed(unsigned int speed)
{
switch (speed) {
case 0:
return B0; // hangup, not too useful otherwise
case 50:
return B50;
case 75:
return B75;
case 110:
return B110;
case 150:
return B150;
case 200:
return B200;
case 300:
return B300;
case 600:
return B600;
case 1200:
return B1200;
case 1800:
return B1800;
case 2400:
return B2400;
case 4800:
return B4800;
case 9600:
return B9600;
case 19200:
return B19200;
case 38400:
return B38400;
case 57600:
return B57600;
case 115200:
return B115200;
case 230400:
return B230400;
case 460800:
return B460800;
case 500000:
return B500000;
case 576000:
return B576000;
case 921600:
return B921600;
case 1000000:
return B1000000;
case 1152000:
return B1152000;
case 1500000:
return B1500000;
case 2000000:
return B2000000;
case 2500000:
return B2500000;
case 3000000:
return B3000000;
case 3500000:
return B3500000;
case 4000000:
return B4000000;
default:
// if we are here, then an unsupported baudrate was selected.
// Report it via syslog and return B9600, a common default.
syslog(LOG_ERR, "uart: unsupported baud rate, defaulting to 9600.");
return B9600;
}
}
static mraa_uart_context
mraa_uart_init_internal(mraa_adv_func_t* func_table)
{
mraa_uart_context dev = (mraa_uart_context) calloc(1, sizeof(struct _uart));
if (dev == NULL) {
syslog(LOG_CRIT, "uart: Failed to allocate memory for context");
return NULL;
}
dev->index = -1;
dev->fd = -1;
dev->advance_func = func_table;
return dev;
}
mraa_uart_context
mraa_uart_init(int index)
{
if (plat == NULL) {
syslog(LOG_ERR, "uart: platform not initialised");
return NULL;
}
if (mraa_is_sub_platform_id(index)) {
syslog(LOG_NOTICE, "uart: Using sub platform is not supported");
return NULL;
}
if (plat->adv_func->uart_init_pre != NULL) {
if (plat->adv_func->uart_init_pre(index) != MRAA_SUCCESS) {
syslog(LOG_ERR, "uart: failure in pre-init platform hook");
return NULL;
}
}
if (plat->uart_dev_count == 0) {
syslog(LOG_ERR, "uart: platform has no UARTs defined");
return NULL;
}
if (plat->uart_dev_count <= index) {
syslog(LOG_ERR, "uart: platform has only %i", plat->uart_dev_count);
return NULL;
}
if (!plat->no_bus_mux) {
int pos = plat->uart_dev[index].rx;
if (pos >= 0) {
if (plat->pins[pos].uart.mux_total > 0) {
if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS) {
syslog(LOG_ERR, "uart: failed to setup muxes for RX pin");
return NULL;
}
}
}
pos = plat->uart_dev[index].tx;
if (pos >= 0) {
if (plat->pins[pos].uart.mux_total > 0) {
if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS) {
syslog(LOG_ERR, "uart: failed to setup muxes for TX pin");
return NULL;
}
}
}
}
mraa_uart_context dev = mraa_uart_init_raw((char*)plat->uart_dev[index].device_path);
if (dev == NULL) {
return NULL;
}
dev->index = index; //Set the board Index.
if (IS_FUNC_DEFINED(dev, uart_init_post)) {
mraa_result_t ret = dev->advance_func->uart_init_post(dev);
if (ret != MRAA_SUCCESS) {
free(dev);
return NULL;
}
}
return dev;
}
mraa_uart_context
mraa_uart_init_raw(const char* path)
{
mraa_uart_context dev = mraa_uart_init_internal(plat == NULL ? NULL : plat->adv_func);
if (dev == NULL) {
syslog(LOG_ERR, "uart: Failed to allocate memory for context");
return NULL;
}
dev->path = path;
if (!dev->path) {
syslog(LOG_ERR, "uart: device path undefined, open failed");
free(dev);
return NULL;
}
// now open the device
if ((dev->fd = open(dev->path, O_RDWR)) == -1) {
syslog(LOG_ERR, "uart: open() failed");
free(dev);
return NULL;
}
// now setup the tty and the selected baud rate
struct termios termio;
// get current modes
if (tcgetattr(dev->fd, &termio)) {
syslog(LOG_ERR, "uart: tcgetattr() failed");
close(dev->fd);
free(dev);
return NULL;
}
// setup for a 'raw' mode. 8N1, no echo or special character
// handling, such as flow control or line editing semantics.
// cfmakeraw is not POSIX!
cfmakeraw(&termio);
if (tcsetattr(dev->fd, TCSAFLUSH, &termio) < 0) {
syslog(LOG_ERR, "uart: tcsetattr() failed after cfmakeraw()");
close(dev->fd);
free(dev);
return NULL;
}
if (mraa_uart_set_baudrate(dev, 9600) != MRAA_SUCCESS) {
close(dev->fd);
free(dev);
return NULL;
}
return dev;
}
mraa_result_t
mraa_uart_stop(mraa_uart_context dev)
{
if (!dev) {
syslog(LOG_ERR, "uart: stop: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
// just close the device and reset our fd.
if (dev->fd >= 0) {
close(dev->fd);
}
free(dev);
return MRAA_SUCCESS;
}
mraa_result_t
mraa_uart_flush(mraa_uart_context dev)
{
if (!dev) {
syslog(LOG_ERR, "uart: stop: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
if (tcdrain(dev->fd) == -1) {
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
return MRAA_SUCCESS;
}
mraa_result_t
mraa_uart_set_baudrate(mraa_uart_context dev, unsigned int baud)
{
if (!dev) {
syslog(LOG_ERR, "uart: stop: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
struct termios termio;
if (tcgetattr(dev->fd, &termio)) {
syslog(LOG_ERR, "uart: tcgetattr() failed");
return MRAA_ERROR_INVALID_HANDLE;
}
// set our baud rates
speed_t speed = uint2speed(baud);
cfsetispeed(&termio, speed);
cfsetospeed(&termio, speed);
// make it so
if (tcsetattr(dev->fd, TCSAFLUSH, &termio) < 0) {
syslog(LOG_ERR, "uart: tcsetattr() failed");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
return MRAA_SUCCESS;
}
mraa_result_t
mraa_uart_set_mode(mraa_uart_context dev, int bytesize, mraa_uart_parity_t parity, int stopbits)
{
if (!dev) {
syslog(LOG_ERR, "uart: stop: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
struct termios termio;
if (tcgetattr(dev->fd, &termio)) {
syslog(LOG_ERR, "uart: tcgetattr() failed");
return MRAA_ERROR_INVALID_HANDLE;
}
termio.c_cflag &= ~CSIZE;
switch (bytesize) {
case 8:
termio.c_cflag |= CS8;
break;
case 7:
termio.c_cflag |= CS7;
break;
case 6:
termio.c_cflag |= CS6;
break;
case 5:
termio.c_cflag |= CS5;
break;
default:
termio.c_cflag |= CS8;
break;
}
// POSIX & linux doesn't support 1.5 and I've got bigger fish to fry
switch (stopbits) {
case 1:
termio.c_cflag &= ~CSTOPB;
break;
case 2:
termio.c_cflag |= CSTOPB;
default:
break;
}
switch (parity) {
case MRAA_UART_PARITY_NONE:
termio.c_cflag &= ~(PARENB | PARODD);
break;
case MRAA_UART_PARITY_EVEN:
termio.c_cflag |= PARENB;
termio.c_cflag &= ~PARODD;
break;
case MRAA_UART_PARITY_ODD:
termio.c_cflag |= PARENB | PARODD;
break;
case MRAA_UART_PARITY_MARK: // not POSIX
termio.c_cflag |= PARENB | CMSPAR | PARODD;
break;
case MRAA_UART_PARITY_SPACE: // not POSIX
termio.c_cflag |= PARENB | CMSPAR;
termio.c_cflag &= ~PARODD;
break;
}
if (tcsetattr(dev->fd, TCSAFLUSH, &termio) < 0) {
syslog(LOG_ERR, "uart: tcsetattr() failed");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
return MRAA_SUCCESS;
}
mraa_result_t
mraa_uart_set_flowcontrol(mraa_uart_context dev, mraa_boolean_t xonxoff, mraa_boolean_t rtscts)
{
if (!dev) {
syslog(LOG_ERR, "uart: stop: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
// hardware flow control
int action = TCIOFF;
if (xonxoff) {
action = TCION;
}
if (tcflow(dev->fd, action)) {
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
// rtscts
struct termios termio;
// get current modes
if (tcgetattr(dev->fd, &termio)) {
syslog(LOG_ERR, "uart: tcgetattr() failed");
return MRAA_ERROR_INVALID_HANDLE;
}
if (rtscts) {
termio.c_cflag |= CRTSCTS;
} else {
termio.c_cflag &= ~CRTSCTS;
}
if (tcsetattr(dev->fd, TCSAFLUSH, &termio) < 0) {
syslog(LOG_ERR, "uart: tcsetattr() failed");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
return MRAA_SUCCESS;
}
mraa_result_t
mraa_uart_set_timeout(mraa_uart_context dev, int read, int write, int interchar)
{
if (!dev) {
syslog(LOG_ERR, "uart: stop: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
struct termios termio;
// get current modes
if (tcgetattr(dev->fd, &termio)) {
syslog(LOG_ERR, "uart: tcgetattr() failed");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
if (read > 0) {
read = read / 100;
if (read == 0)
read = 1;
}
termio.c_lflag &= ~ICANON; /* Set non-canonical mode */
termio.c_cc[VTIME] = read; /* Set timeout in tenth seconds */
if (tcsetattr(dev->fd, TCSANOW, &termio) < 0) {
syslog(LOG_ERR, "uart: tcsetattr() failed");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
return MRAA_SUCCESS;
}
const char*
mraa_uart_get_dev_path(mraa_uart_context dev)
{
if (!dev) {
syslog(LOG_ERR, "uart: get_device_path failed, context is NULL");
return NULL;
}
if (dev->path == NULL) {
syslog(LOG_ERR, "uart: device path undefined");
return NULL;
}
return dev->path;
}
int
mraa_uart_read(mraa_uart_context dev, char* buf, size_t len)
{
if (!dev) {
syslog(LOG_ERR, "uart: read: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
if (dev->fd < 0) {
syslog(LOG_ERR, "uart: port is not open");
return MRAA_ERROR_INVALID_RESOURCE;
}
return read(dev->fd, buf, len);
}
int
mraa_uart_write(mraa_uart_context dev, const char* buf, size_t len)
{
if (!dev) {
syslog(LOG_ERR, "uart: write: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
if (dev->fd < 0) {
syslog(LOG_ERR, "uart: port is not open");
return MRAA_ERROR_INVALID_RESOURCE;
}
return write(dev->fd, buf, len);
}
mraa_boolean_t
mraa_uart_data_available(mraa_uart_context dev, unsigned int millis)
{
if (!dev) {
syslog(LOG_ERR, "uart: data_available: write context is NULL");
return 0;
}
if (dev->fd < 0) {
syslog(LOG_ERR, "uart: port is not open");
return 0;
}
struct timeval timeout;
if (millis == 0) {
// no waiting
timeout.tv_sec = 0;
timeout.tv_usec = 0;
} else {
timeout.tv_sec = millis / 1000;
timeout.tv_usec = (millis % 1000) * 1000;
}
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(dev->fd, &readfds);
if (select(dev->fd + 1, &readfds, NULL, NULL, &timeout) > 0) {
return 1; // data is ready
} else {
return 0;
}
}