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px4_autopilot/apps/modbus/nuttx/portserial.c

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/*
* FreeModbus Libary: NuttX Port
* Based on the FreeModbus Linux port by:
*
* Copyright (C) 2006 Christian Walter <wolti@sil.at>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* File: $Id: portserial.c,v 1.3 2006/10/12 08:35:34 wolti Exp $
*/
/* ----------------------- Standard includes --------------------------------*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/select.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <assert.h>
#include "port.h"
/* ----------------------- Modbus includes ----------------------------------*/
#include <apps/modbus/mb.h>
#include <apps/modbus/mbport.h>
/* ----------------------- Defines -----------------------------------------*/
#ifdef CONFIG_MB_ASCII_ENABLED
#define BUF_SIZE 513 /* must hold a complete ASCII frame. */
#else
#define BUF_SIZE 256 /* must hold a complete RTU frame. */
#endif
/* ----------------------- Static variables ---------------------------------*/
static int iSerialFd = -1;
static BOOL bRxEnabled;
static BOOL bTxEnabled;
static ULONG ulTimeoutMs;
static UCHAR ucBuffer[BUF_SIZE];
static int uiRxBufferPos;
static int uiTxBufferPos;
static struct termios xOldTIO;
/* ----------------------- Function prototypes ------------------------------*/
static BOOL prvbMBPortSerialRead( UCHAR * pucBuffer, USHORT usNBytes, USHORT * usNBytesRead );
static BOOL prvbMBPortSerialWrite( UCHAR * pucBuffer, USHORT usNBytes );
/* ----------------------- Begin implementation -----------------------------*/
void
vMBPortSerialEnable( BOOL bEnableRx, BOOL bEnableTx )
{
/* it is not allowed that both receiver and transmitter are enabled. */
ASSERT( !bEnableRx || !bEnableTx );
if( bEnableRx )
{
( void )tcflush( iSerialFd, TCIFLUSH );
uiRxBufferPos = 0;
bRxEnabled = TRUE;
}
else
{
bRxEnabled = FALSE;
}
if( bEnableTx )
{
bTxEnabled = TRUE;
uiTxBufferPos = 0;
}
else
{
bTxEnabled = FALSE;
}
}
BOOL
xMBPortSerialInit( UCHAR ucPort, ULONG ulBaudRate, UCHAR ucDataBits, eMBParity eParity )
{
CHAR szDevice[16];
BOOL bStatus = TRUE;
struct termios xNewTIO;
speed_t xNewSpeed;
snprintf( szDevice, 16, "/dev/ttyS%d", ucPort );
if( ( iSerialFd = open( szDevice, O_RDWR | O_NOCTTY ) ) < 0 )
{
vMBPortLog( MB_LOG_ERROR, "SER-INIT", "Can't open serial port %s: %s\n", szDevice,
strerror( errno ) );
}
else if( tcgetattr( iSerialFd, &xOldTIO ) != 0 )
{
vMBPortLog( MB_LOG_ERROR, "SER-INIT", "Can't get settings from port %s: %s\n", szDevice,
strerror( errno ) );
}
else
{
bzero( &xNewTIO, sizeof( struct termios ) );
xNewTIO.c_iflag |= IGNBRK | INPCK;
xNewTIO.c_cflag |= CREAD | CLOCAL;
switch ( eParity )
{
case MB_PAR_NONE:
break;
case MB_PAR_EVEN:
xNewTIO.c_cflag |= PARENB;
break;
case MB_PAR_ODD:
xNewTIO.c_cflag |= PARENB | PARODD;
break;
default:
bStatus = FALSE;
}
switch ( ucDataBits )
{
case 8:
xNewTIO.c_cflag |= CS8;
break;
case 7:
xNewTIO.c_cflag |= CS7;
break;
default:
bStatus = FALSE;
}
switch ( ulBaudRate )
{
case 9600:
xNewSpeed = B9600;
break;
case 19200:
xNewSpeed = B19200;
break;
case 38400:
xNewSpeed = B38400;
break;
case 57600:
xNewSpeed = B57600;
break;
case 115200:
xNewSpeed = B115200;
break;
default:
bStatus = FALSE;
}
if( bStatus )
{
if( cfsetispeed( &xNewTIO, xNewSpeed ) != 0 )
{
vMBPortLog( MB_LOG_ERROR, "SER-INIT", "Can't set baud rate %ld for port %s: %s\n",
ulBaudRate, strerror( errno ) );
}
else if( cfsetospeed( &xNewTIO, xNewSpeed ) != 0 )
{
vMBPortLog( MB_LOG_ERROR, "SER-INIT", "Can't set baud rate %ld for port %s: %s\n",
ulBaudRate, szDevice, strerror( errno ) );
}
else if( tcsetattr( iSerialFd, TCSANOW, &xNewTIO ) != 0 )
{
vMBPortLog( MB_LOG_ERROR, "SER-INIT", "Can't set settings for port %s: %s\n",
szDevice, strerror( errno ) );
}
else
{
vMBPortSerialEnable( FALSE, FALSE );
bStatus = TRUE;
}
}
}
return bStatus;
}
BOOL
xMBPortSerialSetTimeout( ULONG ulNewTimeoutMs )
{
if( ulNewTimeoutMs > 0 )
{
ulTimeoutMs = ulNewTimeoutMs;
}
else
{
ulTimeoutMs = 1;
}
return TRUE;
}
void
vMBPortClose( void )
{
if( iSerialFd != -1 )
{
( void )tcsetattr( iSerialFd, TCSANOW, &xOldTIO );
( void )close( iSerialFd );
iSerialFd = -1;
}
}
BOOL
prvbMBPortSerialRead( UCHAR * pucBuffer, USHORT usNBytes, USHORT * usNBytesRead )
{
BOOL bResult = TRUE;
ssize_t res;
fd_set rfds;
struct timeval tv;
tv.tv_sec = 0;
tv.tv_usec = 50000;
FD_ZERO( &rfds );
FD_SET( iSerialFd, &rfds );
/* Wait until character received or timeout. Recover in case of an
* interrupted read system call. */
do
{
if( select( iSerialFd + 1, &rfds, NULL, NULL, &tv ) == -1 )
{
if( errno != EINTR )
{
bResult = FALSE;
}
}
else if( FD_ISSET( iSerialFd, &rfds ) )
{
if( ( res = read( iSerialFd, pucBuffer, usNBytes ) ) == -1 )
{
bResult = FALSE;
}
else
{
*usNBytesRead = ( USHORT ) res;
break;
}
}
else
{
*usNBytesRead = 0;
break;
}
}
while( bResult == TRUE );
return bResult;
}
BOOL
prvbMBPortSerialWrite( UCHAR * pucBuffer, USHORT usNBytes )
{
ssize_t res;
size_t left = ( size_t ) usNBytes;
size_t done = 0;
while( left > 0 )
{
if( ( res = write( iSerialFd, pucBuffer + done, left ) ) == -1 )
{
if( errno != EINTR )
{
break;
}
/* call write again because of interrupted system call. */
continue;
}
done += res;
left -= res;
}
return left == 0 ? TRUE : FALSE;
}
BOOL
xMBPortSerialPoll( )
{
BOOL bStatus = TRUE;
USHORT usBytesRead;
int i;
while( bRxEnabled )
{
if( prvbMBPortSerialRead( &ucBuffer[0], BUF_SIZE, &usBytesRead ) )
{
if( usBytesRead == 0 )
{
/* timeout with no bytes. */
break;
}
else if( usBytesRead > 0 )
{
for( i = 0; i < usBytesRead; i++ )
{
/* Call the modbus stack and let him fill the buffers. */
( void )pxMBFrameCBByteReceived( );
}
uiRxBufferPos = 0;
}
}
else
{
vMBPortLog( MB_LOG_ERROR, "SER-POLL", "read failed on serial device: %s\n",
strerror( errno ) );
bStatus = FALSE;
}
}
if( bTxEnabled )
{
while( bTxEnabled )
{
( void )pxMBFrameCBTransmitterEmpty( );
/* Call the modbus stack to let him fill the buffer. */
}
if( !prvbMBPortSerialWrite( &ucBuffer[0], uiTxBufferPos ) )
{
vMBPortLog( MB_LOG_ERROR, "SER-POLL", "write failed on serial device: %s\n",
strerror( errno ) );
bStatus = FALSE;
}
}
return bStatus;
}
BOOL
xMBPortSerialPutByte( CHAR ucByte )
{
ASSERT( uiTxBufferPos < BUF_SIZE );
ucBuffer[uiTxBufferPos] = ucByte;
uiTxBufferPos++;
return TRUE;
}
BOOL
xMBPortSerialGetByte( CHAR * pucByte )
{
ASSERT( uiRxBufferPos < BUF_SIZE );
*pucByte = ucBuffer[uiRxBufferPos];
uiRxBufferPos++;
return TRUE;
}