zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge branch 'sbus' of https://github.com/PX4/Firmware into #61-px4io-spektrum-decoder

sbg
px4dev 12 years ago
parent
efd3b9dea6 ef4a54666d
commit
ea8872f545
13 changed files with 469 additions and 173 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 15
      Makefile
  2. 1
      apps/drivers/px4io/px4io.cpp
  3. 6
      apps/drivers/px4io/uploader.cpp
  4. 26
      apps/px4io/dsm.c
  5. 25
      apps/px4io/mixer.c
  6. 2
      apps/px4io/px4io.c
  7. 5
      apps/px4io/px4io.h
  8. 30
      apps/px4io/sbus.c
  9. 200
      nuttx/arch/arm/src/stm32/stm32_serial.c
  10. 287
      nuttx/drivers/serial/serial.c
  11. 4
      nuttx/include/nuttx/fs/ioctl.h
  12. 11
      nuttx/include/nuttx/serial/serial.h
  13. 30
      nuttx/include/termios.h

15
Makefile
Unescape View File

@ -114,10 +114,21 @@ endif @@ -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

1
apps/drivers/px4io/px4io.cpp
Unescape View File

@ -338,7 +338,6 @@ PX4IO::task_main() @@ -338,7 +338,6 @@ PX4IO::task_main()
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
usleep(1000000);
continue;
}

6
apps/drivers/px4io/uploader.cpp
Unescape View File

@ -189,8 +189,10 @@ PX4IO_Uploader::drain() @@ -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);
}

26
apps/px4io/dsm.c
Unescape View File

@ -278,6 +278,7 @@ dsm_decode(hrt_abstime frame_time) @@ -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) @@ -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) @@ -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;
}
}

25
apps/px4io/mixer.c
Unescape View File

@ -170,17 +170,26 @@ mixer_update(int mixer, uint16_t *inputs, int input_count) @@ -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;
}
}

2
apps/px4io/px4io.c
Unescape View File

@ -58,6 +58,8 @@ struct sys_state_s system_state; @@ -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();

5
apps/px4io/px4io.h
Unescape View File

@ -72,11 +72,16 @@ struct sys_state_s @@ -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.

30
apps/px4io/sbus.c
Unescape View File

@ -50,6 +50,7 @@ @@ -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 @@ -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;
}
/* use the decoder matrix to extract channel data */
for (unsigned channel = 0; channel < SBUS_INPUT_CHANNELS; channel++) {
if (channel >= PX4IO_INPUT_CHANNELS)
break;
unsigned chancount = (PX4IO_INPUT_CHANNELS > 16) ? 16 : PX4IO_INPUT_CHANNELS;
/* use the decoder matrix to extract channel data */
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) @@ -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;
}

200
nuttx/arch/arm/src/stm32/stm32_serial.c
Unescape View File

@ -185,11 +185,15 @@ struct up_dev_s @@ -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 @@ -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 = @@ -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 = @@ -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 = @@ -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 = @@ -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 = @@ -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 = @@ -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) @@ -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) @@ -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 */
mantissa = usartdiv32 >> 5;
brr = mantissa << USART_BRR_MANT_SHIFT;
/* 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 */
/* The mantissa part is then */
regval = up_serialin(priv, STM32_USART_CR1_OFFSET);
regval &= ~(USART_CR1_PCE|USART_CR1_PS);
mantissa = usartdiv32 >> 5;
brr = mantissa << USART_BRR_MANT_SHIFT;
if (priv->parity == 1) /* Odd parity */
{
regval |= (USART_CR1_PCE|USART_CR1_PS);
}
else if (priv->parity == 2) /* Even parity */
{
regval |= USART_CR1_PCE;
}
/* The fractional remainder (with rounding) */
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) @@ -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) @@ -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) @@ -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) @@ -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) @@ -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) @@ -1960,7 +2040,7 @@ int up_putc(int ch)
}
up_lowputc(ch);
// up_restoreusartint(priv, ie);
up_restoreusartint(priv, ie);
#endif
return ch;
}

287
nuttx/drivers/serial/serial.c
Unescape View File

@ -252,7 +252,7 @@ static inline ssize_t uart_irqwrite(FAR uart_dev_t *dev, FAR const char *buffer, @@ -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 @@ -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 @@ -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 @@ -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))
{
ret = uart_putxmitchar(dev, '\r');
}
#ifdef CONFIG_SERIAL_TERMIOS
/* Put the character into the transmit buffer */
if (dev->tc_oflag & OPOST)
{
if (ret == OK)
{
ret = uart_putxmitchar(dev, ch);
}
/* Mapping CR to NL? */
/* Were we awakened by a signal? That should be the only condition that
* uart_putxmitchar() should return an error.
*/
if ((ch == '\r') && (dev->tc_oflag & OCRNL))
{
ch = '\n';
}
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.
*/
/* Are we interested in newline processing? */
if (buflen < nread)
if ((ch == '\n') && (dev->tc_oflag & (ONLCR | ONLRET)))
{
/* Some data was transferred. Return the number of bytes that were
* successfully transferred.
*/
ret = uart_putxmitchar(dev, '\r');
nread -= buflen;
}
else
{
/* No data was transferred. Return -EINTR. The VFS layer will
* set the errno value appropriately).
*/
nread = -EINTR;
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 */
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 @@ -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 @@ -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 @@ -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 @@ -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) @@ -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);
*(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 */
/* 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;
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) @@ -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) @@ -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);
}

4
nuttx/include/nuttx/fs/ioctl.h
Unescape View File

@ -106,6 +106,10 @@ @@ -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)

11
nuttx/include/nuttx/serial/serial.h
Unescape View File

@ -46,7 +46,9 @@ @@ -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 @@ -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;

30
nuttx/include/termios.h
Unescape View File

@ -58,7 +58,7 @@ @@ -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 @@ @@ -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 @@ @@ -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 @@ @@ -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 */

Write Preview
Loading…
Cancel
Save