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BelaSerial.cpp
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BelaSerial.cpp
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/*
* BelaSerial.cpp
*/
#include "BelaSerial.h"
static int _handle;
// void BelaSerial::setPostCallback(void(*postCallback)(void* arg, float*
// buffer, unsigned int length), void* arg);
BelaSerial::BelaSerial() {}
BelaSerial::~BelaSerial() {
cleanup();
}
bool BelaSerial::setup(const char* device, unsigned int speed) {
return !init(device, speed);
}
int BelaSerial::init (const char* device, unsigned int speed) {
printf("Attempting to connect to %s\n", device);
_handle = open(device, O_RDWR | O_NOCTTY | O_SYNC);
if (_handle < 0) {
printf("Error opening %s: %s\n", device, strerror(errno));
return -1;
} else {
printf("Successfully opened %s with file descriptor %d\n", device, _handle);
}
setBaudRate(speed);
setInterfaceAttribs(_handle, _speed);
setMinCount(_handle, 0); /* set to pure timed read */
return 0;
}
void BelaSerial::setBaudRate (unsigned int speed) {
switch(speed) {
case 0: _speed = B0;
break;
case 50: _speed = B50;
break;
case 75: _speed = B75;
break;
case 110: _speed = B110;
break;
case 134: _speed = B134;
break;
case 150: _speed = B150;
break;
case 200: _speed = B200;
break;
case 300: _speed = B300;
break;
case 600: _speed = B600;
break;
case 1200: _speed = B1200;
break;
case 1800: _speed = B1800;
break;
case 2400: _speed = B2400;
break;
case 4800: _speed = B4800;
break;
case 9600: _speed = B9600;
break;
case 19200: _speed = B19200;
break;
case 38400: _speed = B38400;
break;
case 57600: _speed = B57600;
break;
case 115200: _speed = B115200;
break;
case 230400: _speed = B230400;
break;
}
}
int BelaSerial::setInterfaceAttribs(int fd, int speed) {
struct termios tty;
if (tcgetattr(fd, &tty) < 0) {
printf("Error from tcgetattr: %s\n", strerror(errno));
return -1;
}
cfsetospeed(&tty, (speed_t)speed);
cfsetispeed(&tty, (speed_t)speed);
tty.c_cflag |= (CLOCAL | CREAD); /* ignore modem controls */
tty.c_cflag &= ~CSIZE;
tty.c_cflag |= CS8; /* 8-bit characters */
tty.c_cflag &= ~PARENB; /* no parity bit */
tty.c_cflag &= ~CSTOPB; /* only need 1 stop bit */
tty.c_cflag &= ~CRTSCTS; /* no hardware flowcontrol */
/* setup for non-canonical mode */
tty.c_iflag &=
~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
tty.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
tty.c_oflag &= ~OPOST;
/* fetch bytes as they become available */
tty.c_cc[VMIN] = 1;
tty.c_cc[VTIME] = 1;
if (tcsetattr(fd, TCSANOW, &tty) != 0) {
printf("Error from tcsetattr: %s\n", strerror(errno));
return -1;
}
return 0;
}
void BelaSerial::setMinCount(int fd, int mcount) {
struct termios tty;
if (tcgetattr(fd, &tty) < 0) {
printf("Error tcgetattr: %s\n", strerror(errno));
return;
}
tty.c_cc[VMIN] = mcount ? 1 : 0;
tty.c_cc[VTIME] = 5; /* half second timer */
if (tcsetattr(fd, TCSANOW, &tty) < 0) {
printf("Error tcsetattr: %s\n", strerror(errno));
}
}
int BelaSerial::serialRead(char* buf, size_t len, int timeoutMs) {
struct pollfd pfd[1];
pfd[0].fd = _handle;
pfd[0].events = POLLIN;
// printf("before poll\n");
int result = poll(pfd, 1, timeoutMs);
if (result < 0) {
fprintf(stderr, "Error polling for serial: %d %s\n", errno,
strerror(errno));
return errno;
} else if (result == 0) {
printf("Timeout\n");
// timeout
return 0;
} else if (pfd[0].revents & POLLIN) {
// printf("before read\n");
int rdlen = read(_handle, buf, len);
// printf("after read\n");
if (rdlen > 0) {
if (1 || rdlen != 5) {
printf("Serial read %d bytes: ", rdlen);
for (unsigned int n = 0; n < rdlen; ++n) {
printf("%03d ", buf[n]);
}
printf("\n");
}
} else if (rdlen < 0) {
fprintf(stderr, "Error from read: %d: %s\n", rdlen, strerror(errno));
}
return rdlen;
} else {
fprintf(stderr, "unknown error while reading serial\n");
return -1;
}
}
int BelaSerial::serialWrite(const char* buf, size_t len) {
if (0) {
printf("Writing %d bytes: ", len);
for (unsigned int n = 0; n < len; ++n) printf("%d ", buf[n]);
printf("\n");
}
int ret = write(_handle, buf, len);
if (ret < 0) {
fprintf(stderr, "write failed: %d %s\n", errno, strerror(errno));
}
return ret;
}
void BelaSerial::cleanup() { close(_handle); }