diff options
Diffstat (limited to 'ao-tools/ao-sky-flash/sky_serial.c')
| -rw-r--r-- | ao-tools/ao-sky-flash/sky_serial.c | 257 |
1 files changed, 257 insertions, 0 deletions
diff --git a/ao-tools/ao-sky-flash/sky_serial.c b/ao-tools/ao-sky-flash/sky_serial.c new file mode 100644 index 00000000..7230bf8c --- /dev/null +++ b/ao-tools/ao-sky-flash/sky_serial.c @@ -0,0 +1,257 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program 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 + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#define _BSD_SOURCE +#include <termios.h> +#include <unistd.h> +#include <sys/types.h> +#include <sys/stat.h> +#include <fcntl.h> +#include <poll.h> +#include "sky_flash.h" +#include <stdio.h> +#include <sys/time.h> +#include <stdint.h> +#include <unistd.h> +#include <stdarg.h> + +int skytraq_verbose = 1; + +int +skytraq_setspeed(int fd, int baud) +{ + int b; + int ret; + struct termios term; + + switch (baud) { + case 9600: + b = B9600; + break; + case 38400: + b = B38400; + break; + case 115200: + b = B115200; + break; + default: + fprintf (stderr, "Invalid baudrate %d\n", baud); + return -1; + } + ret = tcgetattr(fd, &term); + cfmakeraw(&term); +#ifdef USE_POLL + term.c_cc[VMIN] = 1; + term.c_cc[VTIME] = 0; +#else + term.c_cc[VMIN] = 0; + term.c_cc[VTIME] = 1; +#endif + + cfsetspeed(&term, b); + + ret = tcsetattr(fd, TCSAFLUSH, &term); + return ret; +} + +int skytraq_open_time; + +int +skytraq_open(const char *path) +{ + int fd; + int ret; + + fd = open(path, O_RDWR | O_NOCTTY); + if (fd < 0) { + perror (path); + return -1; + } + + ret = skytraq_setspeed(fd, 9600); + if (ret < 0) { + close (fd); + return -1; + } + skytraq_open_time = skytraq_millis(); + return fd; +} + + +#define BAUD 57600 +#define BPS (BAUD/10 * 9/10) +#define US_PER_CHAR (1000000 / BPS) + +int +skytraq_write(int fd, const char *data, int len) +{ + const char *d = data; + int r; + int us; + + skytraq_dbg_printf (0, "%4d: ", len); + if (len < 70) + skytraq_dbg_buf(0, data, len); + while (len) { + int this_time = len; + if (this_time > 128) + this_time = 128; + skytraq_dbg_printf(0, "."); + fflush(stdout); + r = write(fd, data, this_time); + if (r <= 0) + return r; + us = r * US_PER_CHAR; + usleep(r * US_PER_CHAR); + data += r; + len -= r; + } + skytraq_dbg_newline(); + return 1; +} + +int +skytraq_setcomm(int fd, int baudrate) +{ + uint8_t msg[11]; + int i; + uint8_t cksum; + + int target_baudrate; + switch(baudrate) + { + case 4800: + target_baudrate=0; + break; + case 9600: + target_baudrate=1; + break; + case 19200: + target_baudrate=2; + break; + case 38400: + target_baudrate=3; + break; + case 57600: + target_baudrate=4; + break; + case 115200: + target_baudrate=5; + break; + case 230400: + target_baudrate=6; + break; + } + msg[0] = 0xa0; /* header */ + msg[1] = 0xa1; + msg[2] = 0x00; /* length */ + msg[3] = 0x04; + msg[4] = 0x05; /* configure serial port */ + msg[5] = 0x00; /* COM 1 */ + msg[6] = target_baudrate; + msg[7] = 0x00; /* update to SRAM only */ + + cksum = 0; + for (i = 4; i < 8; i++) + cksum ^= msg[i]; + msg[8] = cksum; + msg[9] = 0x0d; + msg[10] = 0x0a; + return skytraq_write(fd, msg, 11); +} + +int +skytraq_waitchar(int fd, int timeout) +{ + struct pollfd fds[1]; + int ret; + unsigned char c; + + for (;;) { + fds[0].fd = fd; + fds[0].events = POLLIN; + ret = poll(fds, 1, timeout); + if (ret >= 1) { + if (fds[0].revents & POLLIN) { + ret = read(fd, &c, 1); + if (ret == 1) { + skytraq_dbg_char(1, c); + return c; + } + } + } else if (ret == 0) + return -2; + else { + perror("poll"); + return -1; + } + } +} + +int +skytraq_waitstatus(int fd, const char *status, int timeout) +{ + const char *s; + int c; + + for (;;) { + c = skytraq_waitchar(fd, timeout); + if (c < 0) { + skytraq_dbg_newline(); + return c; + } + if ((char) c == *status) { + s = status + 1; + for (;;) { + c = skytraq_waitchar(fd, timeout); + if (c < 0) { + skytraq_dbg_newline(); + return c; + } + if ((char) c != *s) + break; + if (!*s) { + skytraq_dbg_newline(); + return 0; + } + s++; + } + } + } +} + +void +skytraq_flush(int fd) +{ + while (skytraq_waitchar(fd, 1) >= 0) + ; +} + +int +skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout) +{ + skytraq_flush(fd); + skytraq_write(fd, message, len); + return skytraq_waitstatus(fd, status, timeout); +} + +int +skytraq_cmd_nowait(int fd, const char *message, int len) +{ + skytraq_flush(fd); + return skytraq_write(fd, message, len); +} |