uart_input::uart_input()
{
conf = Global.uart_conf;
if (sp_get_port_by_name(conf.port.c_str(), &port) != SP_OK)
throw std::runtime_error("uart: cannot find specified port");
if (sp_open(port, SP_MODE_READ_WRITE) != SP_OK)
throw std::runtime_error("uart: cannot open port");
sp_port_config *config;
if (sp_new_config(&config) != SP_OK ||
sp_set_config_baudrate(config, conf.baud) != SP_OK ||
sp_set_config_flowcontrol(config, SP_FLOWCONTROL_NONE) != SP_OK ||
sp_set_config_bits(config, 8) != SP_OK ||
sp_set_config_stopbits(config, 1) != SP_OK ||
sp_set_config_parity(config, SP_PARITY_NONE) != SP_OK ||
sp_set_config(port, config) != SP_OK)
throw std::runtime_error("uart: cannot set config");
sp_free_config(config);
if (sp_flush(port, SP_BUF_BOTH) != SP_OK)
throw std::runtime_error("uart: cannot flush");
old_packet.fill(0);
last_update = std::chrono::high_resolution_clock::now();
}
/**
* Set serial parameters for the specified serial port.
*
* @param serial Previously initialized serial port structure.
* @param[in] baudrate The baudrate to set.
* @param[in] bits The number of data bits to use (5, 6, 7 or 8).
* @param[in] parity The parity setting to use (0 = none, 1 = even, 2 = odd).
* @param[in] stopbits The number of stop bits to use (1 or 2).
* @param[in] flowcontrol The flow control settings to use (0 = none,
* 1 = RTS/CTS, 2 = XON/XOFF).
* @param[in] rts Status of RTS line (0 or 1; required by some interfaces).
* @param[in] dtr Status of DTR line (0 or 1; required by some interfaces).
*
* @retval SR_OK Success.
* @retval SR_ERR Failure.
*
* @private
*/
SR_PRIV int serial_set_params(struct sr_serial_dev_inst *serial, int baudrate,
int bits, int parity, int stopbits,
int flowcontrol, int rts, int dtr)
{
int ret;
char *error;
struct sp_port_config *config;
if (!serial) {
sr_dbg("Invalid serial port.");
return SR_ERR;
}
if (!serial->data) {
sr_dbg("Cannot configure unopened serial port %s.", serial->port);
return SR_ERR;
}
sr_spew("Setting serial parameters on port %s.", serial->port);
sp_new_config(&config);
sp_set_config_baudrate(config, baudrate);
sp_set_config_bits(config, bits);
switch (parity) {
case 0:
sp_set_config_parity(config, SP_PARITY_NONE);
break;
case 1:
sp_set_config_parity(config, SP_PARITY_EVEN);
break;
case 2:
sp_set_config_parity(config, SP_PARITY_ODD);
break;
default:
return SR_ERR_ARG;
}
sp_set_config_stopbits(config, stopbits);
sp_set_config_rts(config, flowcontrol == 1 ? SP_RTS_FLOW_CONTROL : rts);
sp_set_config_cts(config, flowcontrol == 1 ? SP_CTS_FLOW_CONTROL : SP_CTS_IGNORE);
sp_set_config_dtr(config, dtr);
sp_set_config_dsr(config, SP_DSR_IGNORE);
sp_set_config_xon_xoff(config, flowcontrol == 2 ? SP_XONXOFF_INOUT : SP_XONXOFF_DISABLED);
ret = sp_set_config(serial->data, config);
sp_free_config(config);
switch (ret) {
case SP_ERR_ARG:
sr_err("Invalid arguments for setting serial port parameters.");
return SR_ERR_ARG;
case SP_ERR_FAIL:
error = sp_last_error_message();
sr_err("Error setting serial port parameters (%d): %s.",
sp_last_error_code(), error);
sp_free_error_message(error);
return SR_ERR;
}
return SR_OK;
}
int serial_set_params(struct serial_device_t *serial,
int baudrate,
int bits,
int parity,
int stopbits,
int flowcontrol,
int rts,
int dtr)
{
if (!serial) {
log_error("serial_set_params: invalid serial port device.");
return -DEVICE_CONN_ERROR;
}
if (!serial->data) {
log_error("serial_set_params: cannot configure unopened serial port %s.",
serial->port);
return -DEVICE_CONN_ERROR;
}
log_debug("serial_set_params: setting serial parameters on port %s.",
serial->port);
struct sp_port_config *config;
sp_new_config(&config);
sp_set_config_baudrate(config, baudrate);
sp_set_config_bits(config, bits);
sp_set_config_parity(config, parity);
sp_set_config_stopbits(config, stopbits);
sp_set_config_rts(config, flowcontrol == 1 ? SP_RTS_FLOW_CONTROL : rts);
sp_set_config_cts(config, flowcontrol == 1 ? SP_CTS_FLOW_CONTROL : SP_CTS_IGNORE);
sp_set_config_dtr(config, dtr);
sp_set_config_dsr(config, SP_DSR_IGNORE);
sp_set_config_xon_xoff(config, flowcontrol == 2 ? SP_XONXOFF_INOUT : SP_XONXOFF_DISABLED);
int ret = sp_set_config(serial->data, config);
sp_free_config(config);
char *error;
switch (ret) {
case SP_ERR_ARG:
log_error("serial_set_params: invalid serial port parameters.");
return -DEVICE_CONF_ERROR;
case SP_ERR_FAIL:
error = sp_last_error_message();
log_error("serial_set_params: error setting serial port parameters (%d): %s.",
sp_last_error_code(), error);
sp_free_error_message(error);
return -DEVICE_CONN_ERROR;
}
return NO_ERROR;
}
/**
* Set serial parameters for the specified serial port.
*
* @param serial Previously initialized serial port structure.
* @param baudrate The baudrate to set.
* @param bits The number of data bits to use.
* @param parity The parity setting to use (0 = none, 1 = even, 2 = odd).
* @param stopbits The number of stop bits to use (1 or 2).
* @param flowcontrol The flow control settings to use (0 = none, 1 = RTS/CTS,
* 2 = XON/XOFF).
*
* @return SR_OK upon success, SR_ERR upon failure.
*/
SR_PRIV int serial_set_params(struct sr_serial_dev_inst *serial, int baudrate,
int bits, int parity, int stopbits,
int flowcontrol, int rts, int dtr)
{
int ret;
char *error;
struct sp_port_config config;
if (!serial) {
sr_dbg("Invalid serial port.");
return SR_ERR;
}
if (serial->fd == -1) {
sr_dbg("Cannot configure unopened serial port %s (fd %d).",
serial->port, serial->fd);
return SR_ERR;
}
sr_spew("Setting serial parameters on port %s (fd %d).", serial->port,
serial->fd);
config.baudrate = baudrate;
config.bits = bits;
config.parity = parity;
config.stopbits = stopbits;
config.rts = flowcontrol == 1 ? SP_RTS_FLOW_CONTROL : rts;
config.cts = flowcontrol == 1 ? SP_CTS_FLOW_CONTROL : SP_CTS_IGNORE;
config.dtr = dtr;
config.dsr = SP_DSR_IGNORE;
config.xon_xoff = flowcontrol == 2 ? SP_XONXOFF_INOUT : SP_XONXOFF_DISABLED;
ret = sp_set_config(serial->data, &config);
switch (ret) {
case SP_ERR_ARG:
sr_err("Invalid arguments for setting serial port parameters.");
return SR_ERR_ARG;
case SP_ERR_FAIL:
error = sp_last_error_message();
sr_err("Error setting serial port parameters: %s.", error);
sp_free_error_message(error);
return SR_ERR;
}
return SR_OK;
}
int Arduino_connect(const char *serialPortName, int baudrate)
{
struct sp_port_config *serialPortConfiguration;
enum sp_return r;
if(serialPort) sp_free_port(serialPort);
// Find the specified serial port
if(sp_get_port_by_name(serialPortName, &serialPort) != SP_OK)
{
fprintf(stderr, "Cannot find the serial port\n");
return 0;
}
// Open the serial port
if(sp_open(serialPort, SP_MODE_READ_WRITE) != SP_OK)
{
fprintf(stderr, "Cannot open the serial port\n");
return 0;
}
// Configure the serial port
sp_new_config(&serialPortConfiguration);
sp_set_config_baudrate(serialPortConfiguration, 9600);
sp_set_config_parity(serialPortConfiguration, SP_PARITY_NONE);
sp_set_config_bits(serialPortConfiguration, 8);
sp_set_config_stopbits(serialPortConfiguration, 1);
sp_set_config_flowcontrol(serialPortConfiguration, SP_FLOWCONTROL_NONE);
if(sp_set_config(serialPort, serialPortConfiguration) != SP_OK)
{
fprintf(stderr, "Cannot configure the serial port\n");
return 0;
}
sp_free_config(serialPortConfiguration);
return 1;
}
int navilink_open_sp_port(struct sp_port* port, NavilinkDevice* device)
{
enum sp_return result = sp_open(port, SP_MODE_READ_WRITE);
if (result != SP_OK) {
CATCH_LIBSERIAL_ERROR(device);
goto error_cleanup_port;
}
struct sp_port_config* config = NULL;
result = sp_new_config(&config);
if (result != SP_OK) {
CATCH_LIBSERIAL_ERROR(device);
goto error_clean_config;
}
// Set the config
sp_set_baudrate(port, 115200);
sp_set_bits(port, 8);
sp_set_parity(port, SP_PARITY_NONE);
sp_set_stopbits(port, 1);
sp_set_flowcontrol(port, SP_FLOWCONTROL_NONE);
sp_set_config(port, config);
// Allocate events buffer
struct sp_event_set* event_set = NULL;
sp_new_event_set(&event_set);
sp_add_port_events(event_set, port, SP_EVENT_TX_READY);
//Wait for the port to be ready
result = sp_wait(event_set, 5000);
if (result != SP_OK) {
CATCH_LIBSERIAL_ERROR(device);
goto error_clean_event_set;
}
device->serial_port = port;
device->event_set = event_set;
//Check that this is a Navilink device
int res = navilink_check_protocol(device);
if (res < 0) {
goto error_clean_event_set;
}
// Retrieve the informations about the device
res = navilink_query_information(device, &device->informations);
if (res < 0) {
goto error_clean_event_set;
}
// Retrieve the firmware version
res = navilink_query_firmware_version(device, &device->firmware_version);
if (res < 0) {
goto error_clean_event_set;
}
return 0;
error_clean_event_set:
sp_free_event_set(event_set);
error_clean_config:
sp_free_config(config);
error_cleanup_port:
sp_free_port(port);
return -1;
}
