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px4_autopilot/apps/examples/usbserial/usbserial_main.c

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/****************************************************************************
* examples/usbserial/usbserial_main.c
*
* Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#ifdef CONFIG_CDCACM
# include <nuttx/usb/cdcacm.h>
#endif
/****************************************************************************
* Definitions
****************************************************************************/
#if defined(CONFIG_EXAMPLES_USBSERIAL_INONLY) && defined(CONFIG_EXAMPLES_USBSERIAL_OUTONLY)
# error "Cannot define both CONFIG_EXAMPLES_USBSERIAL_INONLY and _OUTONLY"
#endif
#if defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL) && defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG)
# error "Cannot define both CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL and _ONLYBIG"
#endif
#if !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG) && !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL)
# ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
# define COUNTER_NEEDED 1
# endif
#endif
#ifdef CONFIG_EXAMPLES_USBSERIAL_TRACEINIT
# define TRACE_INIT_BITS (TRACE_INIT_BIT)
#else
# define TRACE_INIT_BITS (0)
#endif
#define TRACE_ERROR_BITS (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT)
#ifdef CONFIG_EXAMPLES_USBSERIAL_TRACECLASS
# define TRACE_CLASS_BITS (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|TRACE_CLASSSTATE_BIT)
#else
# define TRACE_CLASS_BITS (0)
#endif
#ifdef CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS
# define TRACE_TRANSFER_BITS (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|TRACE_READ_BIT|\
TRACE_WRITE_BIT|TRACE_COMPLETE_BIT)
#else
# define TRACE_TRANSFER_BITS (0)
#endif
#ifdef CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER
# define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT)
#else
# define TRACE_CONTROLLER_BITS (0)
#endif
#ifdef CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS
# define TRACE_INTERRUPT_BITS (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|TRACE_INTEXIT_BIT)
#else
# define TRACE_INTERRUPT_BITS (0)
#endif
#define TRACE_BITSET (TRACE_INIT_BITS|TRACE_ERROR_BITS|TRACE_CLASS_BITS|\
TRACE_TRANSFER_BITS|TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS)
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_lowprintf(__VA_ARGS__)
# define trmessage lib_lowprintf
# else
# define message(...) printf(__VA_ARGS__)
# define trmessage printf
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_lowprintf
# define trmessage lib_lowprintf
# else
# define message printf
# define trmessage printf
# endif
#endif
#ifdef CONFIG_CDCACM
# define USBSER_DEVNAME "/dev/ttyACM0"
#else
# define USBSER_DEVNAME "/dev/ttyUSB0"
#endif
#define IOBUFFER_SIZE 256
/****************************************************************************
* Private Data
****************************************************************************/
#ifndef CONFIG_EXAMPLES_USBSERIAL_ONLYBIG
static const char g_shortmsg[] = "Hello, World!!\n";
#endif
#ifndef CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL
static const char g_longmsg[] =
"The Spanish Armada a Speech by Queen Elizabeth I of England\n"
"Addressed to the English army at Tilbury Fort - 1588\n"
"My loving people, we have been persuaded by some, that are careful of our "
"safety, to take heed how we commit ourselves to armed multitudes, for fear "
"of treachery; but I assure you, I do not desire to live to distrust my "
"faithful and loving people.\n"
"Let tyrants fear; I have always so behaved myself that, under God, I have "
"placed my chiefest strength and safeguard in the loyal hearts and good will "
"of my subjects. And therefore I am come amongst you at this time, not as for "
"my recreation or sport, but being resolved, in the midst and heat of the "
"battle, to live or die amongst you all; to lay down, for my God, and for "
"my kingdom, and for my people, my honour and my blood, even the dust.\n"
"I know I have but the body of a weak and feeble woman; but I have the heart "
"of a king, and of a king of England, too; and think foul scorn that Parma "
"or Spain, or any prince of Europe, should dare to invade the borders of my "
"realms: to which, rather than any dishonour should grow by me, I myself will "
"take up arms; I myself will be your general, judge, and rewarder of every "
"one of your virtues in the field.\n"
"I know already, by your forwardness, that you have deserved rewards and "
"crowns; and we do assure you, on the word of a prince, they shall be duly "
"paid you. In the mean my lieutenant general shall be in my stead, than whom "
"never prince commanded a more noble and worthy subject; not doubting by "
"your obedience to my general, by your concord in the camp, and by your "
"valour in the field, we shall shortly have a famous victory over the enemies "
"of my God, of my kingdom, and of my people.\n";
#endif
#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
static char g_iobuffer[IOBUFFER_SIZE];
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
#ifdef CONFIG_USBDEV_TRACE
static int trace_callback(struct usbtrace_s *trace, void *arg)
{
usbtrace_trprintf((trprintf_t)trmessage, trace->event, trace->value);
return 0;
}
static void dumptrace(void)
{
(void)usbtrace_enumerate(trace_callback, NULL);
}
#else
# define dumptrace()
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* usbserial_main
****************************************************************************/
int usbserial_main(int argc, char *argv[])
{
#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
int infd;
#endif
#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
int outfd;
#endif
#ifdef COUNTER_NEEDED
int count = 0;
#endif
ssize_t nbytes;
#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
int i, j, k;
#endif
int ret;
/* Initialize the USB serial driver */
message("usbserial_main: Registering USB serial driver\n");
#ifdef CONFIG_CDCACM
ret = cdcacm_initialize(0, NULL);
#else
ret = usbdev_serialinitialize(0);
#endif
if (ret < 0)
{
message("usbserial_main: ERROR: Failed to create the USB serial device: %d\n", -ret);
return 1;
}
message("usbserial_main: Successfully registered the serial driver\n");
#if CONFIG_USBDEV_TRACE && CONFIG_USBDEV_TRACE_INITIALIDSET != 0
/* If USB tracing is enabled and tracing of initial USB events is specified,
* then dump all collected trace data to stdout
*/
sleep(5);
dumptrace();
#endif
/* Then, in any event, configure trace data collection as configured */
usbtrace_enable(TRACE_BITSET);
/* Open the USB serial device for writing (blocking) */
#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
do
{
message("usbserial_main: Opening USB serial driver\n");
outfd = open(USBSER_DEVNAME, O_WRONLY);
if (outfd < 0)
{
int errcode = errno;
message("usbserial_main: ERROR: Failed to open " USBSER_DEVNAME " for writing: %d\n", errcode);
/* ENOTCONN means that the USB device is not yet connected */
if (errcode == ENOTCONN)
{
message("usbserial_main: Not connected. Wait and try again.\n");
sleep(5);
}
else
{
/* Give up on other errors */
message("usbserial_main: Aborting\n");
return 2;
}
}
/* If USB tracing is enabled, then dump all collected trace data to stdout */
dumptrace();
}
while (outfd < 0);
#endif
/* Open the USB serial device for reading (non-blocking) */
#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
infd = open(USBSER_DEVNAME, O_RDONLY|O_NONBLOCK);
if (infd < 0)
{
message("usbserial_main: ERROR: Failed to open " USBSER_DEVNAME " for reading: %d\n", errno);
close(outfd);
return 3;
}
#else
do
{
infd = open(USBSER_DEVNAME, O_RDONLY|O_NONBLOCK);
if (infd < 0)
{
int errcode = errno;
message("usbserial_main: ERROR: Failed to open " USBSER_DEVNAME " for reading: %d\n", errno);
/* ENOTCONN means that the USB device is not yet connected */
if (errcode == ENOTCONN)
{
message("usbserial_main: Not connected. Wait and try again.\n");
sleep(5);
}
else
{
/* Give up on other errors */
message("usbserial_main: Aborting\n");
return 3;
}
}
/* If USB tracing is enabled, then dump all collected trace data to stdout */
dumptrace();
}
while (infd < 0);
#endif
#endif
message("usbserial_main: Successfully opened the serial driver\n");
/* Send messages and get responses -- forever */
for (;;)
{
/* Test IN (device-to-host) messages */
#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
#if !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG) && !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL)
if (count < 8)
{
message("usbserial_main: Saying hello\n");
nbytes = write(outfd, g_shortmsg, sizeof(g_shortmsg));
count++;
}
else
{
message("usbserial_main: Reciting QEI's speech of 1588\n");
nbytes = write(outfd, g_longmsg, sizeof(g_longmsg));
count = 0;
}
#elif !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL)
message("usbserial_main: Reciting QEI's speech of 1588\n");
nbytes = write(outfd, g_longmsg, sizeof(g_longmsg));
#else /* !defined(CONFIG_EXAMPLES_USBSERIAL_ONLYBIG) */
message("usbserial_main: Saying hello\n");
nbytes = write(outfd, g_shortmsg, sizeof(g_shortmsg));
#endif
/* Test if the write was successful */
if (nbytes < 0)
{
message("usbserial_main: ERROR: write failed: %d\n", errno);
#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
close(infd);
#endif
close(outfd);
return 4;
}
message("usbserial_main: %d bytes sent\n", nbytes);
#endif /* CONFIG_EXAMPLES_USBSERIAL_OUTONLY */
/* Test OUT (host-to-device) messages */
#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
/* Poll for incoming messages */
message("usbserial_main: Polling for OUT messages\n");
for (i = 0; i < 5; i++)
{
memset(g_iobuffer, 'X', IOBUFFER_SIZE);
nbytes = read(infd, g_iobuffer, IOBUFFER_SIZE);
if (nbytes < 0)
{
int errorcode = errno;
if (errorcode != EAGAIN)
{
message("usbserial_main: ERROR: read failed: %d\n", errno);
close(infd);
#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
close(outfd);
#endif
return 6;
}
}
else
{
message("usbserial_main: Received %d bytes:\n", nbytes);
if (nbytes > 0)
{
for (j = 0; j < nbytes; j += 16)
{
message("usbserial_main: %03x: ", j);
for (k = 0; k < 16; k++)
{
if (k == 8)
{
message(" ");
}
if (j+k < nbytes)
{
message("%02x", g_iobuffer[j+k]);
}
else
{
message(" ");
}
}
message(" ");
for (k = 0; k < 16; k++)
{
if (k == 8)
{
message(" ");
}
if (j+k < nbytes)
{
if (g_iobuffer[j+k] >= 0x20 && g_iobuffer[j+k] < 0x7f)
{
message("%c", g_iobuffer[j+k]);
}
else
{
message(".");
}
}
else
{
message(" ");
}
}
message("\n");
}
}
}
sleep(1);
}
#else /* CONFIG_EXAMPLES_USBSERIAL_INONLY */
message("usbserial_main: Waiting\n");
sleep(5);
#endif /* CONFIG_EXAMPLES_USBSERIAL_INONLY */
/* If USB tracing is enabled, then dump all collected trace data to stdout */
dumptrace();
}
/* Won't get here, but if we did this what we would have to do */
#ifndef CONFIG_EXAMPLES_USBSERIAL_INONLY
close(infd);
#endif
#ifndef CONFIG_EXAMPLES_USBSERIAL_OUTONLY
close(outfd);
#endif
return 0;
}