/*
* Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
- * Copyright (c) 2014 Intel Corporation.
+ * 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
#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 ( mraa_setup_uart(index) != MRAA_SUCCESS)
+ 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;
+ }
+ }
+ }
- mraa_uart_context dev = (mraa_uart_context) malloc(sizeof(struct _uart));
- memset(dev, 0, sizeof(struct _uart));
+ 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;
+ }
+ }
+ }
+ }
- dev->index = index;
- if (advance_func->uart_init_post != NULL) {
- mraa_result_t ret = advance_func->uart_init_post(dev);
+ 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;
+ }
+
+ return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
+}
+
+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;
+ }
+}
+
+
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