amiro-blt / Host / Source / SerialBoot / port / linux / xcptransport.c @ 69661903
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/************************************************************************************//** |
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* \file port\linux\xcptransport.c
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* \brief XCP transport layer interface source file.
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* \ingroup SerialBoot
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* \internal
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*----------------------------------------------------------------------------------------
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* C O P Y R I G H T
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*----------------------------------------------------------------------------------------
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* Copyright (c) 2014 by Feaser http://www.feaser.com All rights reserved
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*
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*----------------------------------------------------------------------------------------
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* L I C E N S E
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*----------------------------------------------------------------------------------------
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* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by the Free
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* Software Foundation, either version 3 of the License, or (at your option) any later
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* version.
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*
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* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with OpenBLT.
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* If not, see <http://www.gnu.org/licenses/>.
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*
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* A special exception to the GPL is included to allow you to distribute a combined work
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* that includes OpenBLT without being obliged to provide the source code for any
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* proprietary components. The exception text is included at the bottom of the license
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* file <license.html>.
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*
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* \endinternal
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****************************************************************************************/
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/****************************************************************************************
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* Include files
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****************************************************************************************/
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#include <assert.h> /* assertion module */ |
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#include <sb_types.h> /* C types */ |
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#include <stdio.h> /* standard I/O library */ |
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#include <string.h> /* string function definitions */ |
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#include <unistd.h> /* UNIX standard functions */ |
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#include <fcntl.h> /* file control definitions */ |
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#include <errno.h> /* error number definitions */ |
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#include <termios.h> /* POSIX terminal control */ |
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#include <sys/ioctl.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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/*
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#include <sys/socket.h>
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#include <bluetooth/bluetooth.h>
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#include <bluetooth/rfcomm.h>
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*/
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#include <sys/time.h> |
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#include "xcpmaster.h" /* XCP master protocol module */ |
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#include "timeutil.h" /* time utility module */ |
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/****************************************************************************************
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* Macro definitions
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****************************************************************************************/
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/** \brief Invalid UART device/file handle. */
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#define UART_INVALID_HANDLE (-1) |
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/** \brief maximum number of bytes in a transmit/receive XCP packet in UART. */
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#define XCP_MASTER_UART_MAX_DATA ((XCP_MASTER_TX_MAX_DATA>XCP_MASTER_RX_MAX_DATA) ? \
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(XCP_MASTER_TX_MAX_DATA+1) : (XCP_MASTER_RX_MAX_DATA+1)) |
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/** \brief The smallest time in millisecond that the UART is configured for. */
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#define UART_RX_TIMEOUT_MIN_MS (100) |
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/****************************************************************************************
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* Function prototypes
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****************************************************************************************/
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static speed_t XcpTransportGetBaudrateMask(sb_uint32 baudrate);
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/****************************************************************************************
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* Local data declarations
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****************************************************************************************/
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static tXcpTransportResponsePacket responsePacket;
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static sb_int32 hUart = UART_INVALID_HANDLE;
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static sb_uint8 errorType = -1; |
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//static unsigned char bluetooth_channel = 1;
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static sb_char *tcpDevice;
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static sb_uint32 tcpBaudrate;
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static sb_uint8 tcpComIsUart;
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/************************************************************************************//** |
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** \brief Initializes the communication interface used by this transport layer.
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** \param device Serial communication device name. For example "COM4".
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** \param baudrate Communication speed in bits/sec.
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** \return SB_TRUE if successful, SB_FALSE otherwise.
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**
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****************************************************************************************/
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sb_uint8 XcpTransportInit(sb_char *device, sb_uint32 baudrate, sb_uint8 comIsUart) |
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{
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// registers for UART connection
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struct termios options;
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/*
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// socket structs for Bluetooth connection
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const struct timeval sock_timeout = {.tv_sec=0, .tv_usec=100000};
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struct sockaddr_rc addr = { 0 };
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*/
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// additional initializations
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int status;
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// save input
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tcpDevice = device; |
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tcpBaudrate = baudrate; |
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tcpComIsUart = comIsUart; |
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// check, if maybe existing serial port has been closed first
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if (hUart != UART_INVALID_HANDLE) {
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if (errorType > 0 && errorType != EAGAIN) { |
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//printf("Close active connection.\n");
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XcpTransportClose(); |
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} else if (errorType == EAGAIN || errorType == 0) { |
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//printf("Just try sending message again!\n");
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return SB_TRUE;
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} |
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} |
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errorType = 0;
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/*
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// try to connect to bluetooth device
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if (comIsUart == SB_FALSE) {
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printf("Connection over Bluetooth\n");
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// allocate a socket
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hUart = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
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// set the connection parameters (who to connect to)
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addr.rc_family = AF_BLUETOOTH;
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addr.rc_channel = bluetooth_channel;
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str2ba(device, &addr.rc_bdaddr); // with "-lbluetooth"
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// connect to server
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status = connect(hUart, (struct sockaddr *)&addr, sizeof(addr));
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if (status < 0) {
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printf("could not connect to bluetooth device (status = %i)\n", errno);
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//XcpTransportClose();
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return SB_FALSE;
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}
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setsockopt(hUart, SOL_SOCKET, SO_RCVTIMEO, (char*)&sock_timeout, sizeof(sock_timeout));
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printf("Bluetooth connection built\n");
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return SB_TRUE;
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}
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printf("Connection over UART\n");
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*/
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/* open the port */
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hUart = open(device, O_RDWR | O_NOCTTY | O_NDELAY); |
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/* verify the result */
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if (hUart == UART_INVALID_HANDLE)
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{
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return SB_FALSE;
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} |
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/* configure the device to block during read operations */
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if (fcntl(hUart, F_SETFL, 0) == -1) |
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{
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XcpTransportClose(); |
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return SB_FALSE;
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} |
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/* get the current options for the port */
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if (tcgetattr(hUart, &options) == -1) |
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{
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XcpTransportClose(); |
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return SB_FALSE;
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} |
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/* reset the settings */
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cfmakeraw(&options); |
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options.c_cflag &= ~(CSIZE | CRTSCTS); |
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options.c_iflag &= ~(IXON | IXOFF | IXANY | IGNPAR); |
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options.c_lflag &= ~(ECHOK | ECHOCTL | ECHOKE); |
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options.c_oflag &= ~(OPOST | ONLCR); |
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/* configure the baudrate */
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if (cfsetispeed(&options, XcpTransportGetBaudrateMask(baudrate)) == -1) |
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{
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XcpTransportClose(); |
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return SB_FALSE;
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} |
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if (cfsetospeed(&options, XcpTransportGetBaudrateMask(baudrate)) == -1) |
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{
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XcpTransportClose(); |
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return SB_FALSE;
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} |
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/* enable the receiver and set local mode */
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options.c_cflag |= (CLOCAL | CREAD); |
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/* configure 8-n-1 */
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options.c_cflag &= ~PARENB; |
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options.c_cflag &= ~CSTOPB; |
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options.c_cflag &= ~CSIZE; |
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options.c_cflag |= CS8; |
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/* disable hardware flow control */
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options.c_cflag &= ~CRTSCTS; |
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/* configure raw input */
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options.c_lflag &= ~(ICANON | ISIG); |
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/* configure raw output */
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options.c_oflag &= ~OPOST; |
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/* configure timeouts */
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options.c_cc[VMIN] = 0;
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options.c_cc[VTIME] = UART_RX_TIMEOUT_MIN_MS/100; /* 1/10th of a second */ |
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/* pull down reset pin */
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if (ioctl(hUart, TIOCMGET, &status) == -1) { |
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perror("TIOCMGET");
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return SB_FALSE;
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} |
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status |= TIOCM_DTR; |
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status &= ~TIOCM_RTS; |
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if (ioctl(hUart, TIOCMSET, &status) == -1) { |
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perror("TIOCMSET");
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return SB_FALSE;
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} |
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/* set the new options for the port */
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if (tcsetattr(hUart, TCSAFLUSH, &options) == -1) |
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{
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XcpTransportClose(); |
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return SB_FALSE;
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} |
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/* success */
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return SB_TRUE;
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} /*** end of XcpTransportInit ***/
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/************************************************************************************//** |
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** \brief Transmits an XCP packet on the transport layer and attemps to receive the
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** response within the given timeout. The data in the response packet is
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** stored in an internal data buffer that can be obtained through function
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** XcpTransportReadResponsePacket().
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** \return SB_TRUE is the response packet was successfully received and stored,
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** SB_FALSE otherwise.
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**
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****************************************************************************************/
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sb_uint8 XcpTransportSendPacket(sb_uint8 *data, sb_uint8 len, sb_uint16 timeOutMs) |
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{
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sb_uint16 cnt; |
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static sb_uint8 xcpUartBuffer[XCP_MASTER_UART_MAX_DATA]; /* static to lower stack load */ |
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sb_uint16 xcpUartLen; |
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sb_int32 bytesSent; |
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sb_int32 bytesToRead; |
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sb_int32 bytesRead; |
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sb_uint8 *uartReadDataPtr; |
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sb_uint32 timeoutTime; |
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sb_uint32 nowTime; |
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ssize_t result; |
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struct timeval start, send, end;
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gettimeofday(&start, NULL);
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/* ------------------------ XCP packet transmission -------------------------------- */
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/* prepare the XCP packet for transmission on UART. this is basically the same as the
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* xcp packet data but just the length of the packet is added to the first byte.
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*/
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xcpUartLen = len+1;
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xcpUartBuffer[0] = len;
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for (cnt=0; cnt<len; cnt++) |
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{
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xcpUartBuffer[cnt+1] = data[cnt];
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} |
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bytesSent = -1;
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while (bytesSent != xcpUartLen) {
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bytesSent = write(hUart, xcpUartBuffer, xcpUartLen); |
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if (bytesSent != xcpUartLen)
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{
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errorType = errno; |
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/* if (errorType == EAGAIN) {
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printf("<< ERROR EAGAIN >>\n");
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} else {
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printf("<< ERROR %i >>\n", errorType);
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}*/
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// while(XcpTransportInit(tcpDevice, tcpBaudrate, tcpComIsUart) == SB_FALSE);
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// return XcpTransportSendPacket(data, len, timeOutMs);
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return SB_FALSE;
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} |
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} |
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/* ------------------------ XCP packet reception ----------------------------------- */
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/* determine timeout time */
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timeoutTime = TimeUtilGetSystemTimeMs() + timeOutMs + UART_RX_TIMEOUT_MIN_MS; |
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/* read the first byte, which contains the length of the xcp packet that follows */
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bytesToRead = 1;
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uartReadDataPtr = &responsePacket.len; |
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while(bytesToRead > 0) |
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{
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// printf("bytesToRead: %i\n", bytesToRead);
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result = read(hUart, uartReadDataPtr, bytesToRead); |
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if (result == -1) { |
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errorType = errno; |
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/* if (errno == EAGAIN) {
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printf("<< ERROR EAGAIN >>\n");
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} else {
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printf("<< ERROR %i >>\n", errno);
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}
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*/// while(XcpTransportInit(tcpDevice, tcpBaudrate, tcpComIsUart) == SB_FALSE); |
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// return XcpTransportSendPacket(data, len, timeOutMs);
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// return SB_FALSE;
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} |
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if (result != -1) |
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{
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bytesRead = result; |
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/* update the bytes that were already read */
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uartReadDataPtr += bytesRead; |
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bytesToRead -= bytesRead; |
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} |
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/* check for timeout if not yet done */
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if ( (bytesToRead > 0) && (TimeUtilGetSystemTimeMs() >= timeoutTime) ) |
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{
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// printf("\nTIMEOUT of first byte received - ");
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/* timeout occurred */
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return SB_FALSE;
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} |
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} |
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gettimeofday(&send, NULL);
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// printf("\nfirst byte received, checking rest\n");
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/* read the rest of the packet */
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bytesToRead = responsePacket.len; |
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uartReadDataPtr = &responsePacket.data[0];
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while(bytesToRead > 0) |
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{
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result = read(hUart, uartReadDataPtr, bytesToRead); |
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if (result != -1) |
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{
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bytesRead = result; |
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/* update the bytes that were already read */
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uartReadDataPtr += bytesRead; |
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bytesToRead -= bytesRead; |
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} |
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/* check for timeout if not yet done */
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if ( (bytesToRead > 0) && (TimeUtilGetSystemTimeMs() >= timeoutTime) ) |
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{
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// printf("\nTIMEOUT of other bytes received - ");
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/* timeout occurred */
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return SB_FALSE;
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} |
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} |
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// printf("\nall received!\n");
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gettimeofday(&end, NULL);
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// printf("Sending: %luus, Receiving: %luus, all: %luus (bytes sent: %u)\n", send.tv_usec-start.tv_usec, end.tv_usec-send.tv_usec, end.tv_usec-start.tv_usec, bytesSent);
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/* still here so the complete packet was received */
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return SB_TRUE;
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} /*** end of XcpMasterTpSendPacket ***/
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/************************************************************************************//** |
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** \brief Reads the data from the response packet. Make sure to not call this
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** function while XcpTransportSendPacket() is active, because the data won't be
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** valid then.
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** \return Pointer to the response packet data.
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**
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****************************************************************************************/
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tXcpTransportResponsePacket *XcpTransportReadResponsePacket(void)
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{
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return &responsePacket;
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} /*** end of XcpTransportReadResponsePacket ***/
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/************************************************************************************//** |
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** \brief Closes the communication channel.
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** \return none.
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**
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****************************************************************************************/
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void XcpTransportClose(void) |
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{
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/* close the COM port handle if valid */
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if (hUart != UART_INVALID_HANDLE)
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{
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close(hUart); |
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} |
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/* set handles to invalid */
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hUart = UART_INVALID_HANDLE; |
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} /*** end of XcpTransportClose ***/
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/************************************************************************************//** |
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** \brief Converts the baudrate value to a bitmask value used by termios. Currently
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** supports the most commonly used baudrates.
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** \return none.
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**
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****************************************************************************************/
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static speed_t XcpTransportGetBaudrateMask(sb_uint32 baudrate)
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{
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speed_t result; |
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switch (baudrate)
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{
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case 115200: |
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result = B115200; |
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break;
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case 57600: |
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result = B57600; |
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break;
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case 38400: |
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result = B38400; |
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break;
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case 19200: |
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result = B19200; |
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break;
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case 9600: |
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default:
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result = B9600; |
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break;
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} |
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return result;
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} /*** end of XcpTransportGetBaudrateMask ***/
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/*********************************** end of xcptransport.c *****************************/
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