//TODO: implement sanity checks.
hal_uart_port hal_uart_open(hal_uart_port port, hal_uart_baudrate baudrate,
hal_uart_parity parity,
hal_uart_stop_bits stop_bits,
hal_uart_on_data_received_callback data_received){
on_data_received[port] = data_received;
assert(port >= HAL_UART_PORT_1 && port <= HAL_UART_NUMBER_OF_PORTS );
/* Configure uart */
UART_MODULE uart = logic_uart2phy_uart(port);
SetRxTxPins(uart);
UARTConfigure(uart, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(uart, UART_INTERRUPT_ON_TX_DONE | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(uart, UART_DATA_SIZE_8_BITS | get_parity(parity) | get_stop_bits(stop_bits));
UARTSetDataRate(uart, PIC32_PERIPHERALBUS_FREQ, get_baudrate(baudrate));
UARTEnable(uart, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_TX | UART_RX));
INTClearFlag(INT_SOURCE_UART_RX(uart));
INTEnable(INT_SOURCE_UART_RX(uart),INT_ENABLED);
return port;
}
int _comm_open(struct comm_t *state)
{
int fd = open(state->_devfile, O_RDWR|O_CLOEXEC|O_NOCTTY);
if (fd < 0) {
return -1;
}
if (fcntl(fd, F_SETFL, O_NONBLOCK) != 0) {
fprintf(stderr, "fcntl(comm_device, F_SETFL, O_NONBLOCK) failed: %d: %s\n", errno, strerror(errno));
}
struct termios port_settings;
memset(&port_settings, 0, sizeof(port_settings));
speed_t speed = get_baudrate(state->_baudrate);
cfsetispeed(&port_settings, speed);
cfsetospeed(&port_settings, speed);
cfmakeraw(&port_settings);
tcsetattr(fd, TCSANOW, &port_settings);
tcflush(fd, TCIOFLUSH);
state->_fd = fd;
return 0;
}
