NEW: sync the code of DJI Payload-SDK version 2.2.1 released on January 20 2021.

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

sample/platform/linux/manifold2/hal/hal_uart.c

@@ -0,0 +1,139 @@
+/**
+ ********************************************************************
+ * @file    psdk_hal.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "hal_uart.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define LINUX_UART_DEV    "/dev/ttyUSB0"
+
+/* Private types -------------------------------------------------------------*/
+static int s_psdkUartFd = -1;
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode Hal_UartInit(void)
+{
+    struct termios options;
+    struct flock lock;
+    T_PsdkReturnCode returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+    s_psdkUartFd = open(LINUX_UART_DEV, O_RDWR | O_NOCTTY | O_NDELAY);
+    if (s_psdkUartFd == -1) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    // Forbid multiple psdk programs to access the serial port
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+
+    if (fcntl(s_psdkUartFd, F_GETLK, &lock) < 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    if (lock.l_type != F_UNLCK) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+    if (fcntl(s_psdkUartFd, F_SETLKW, &lock) < 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (tcgetattr(s_psdkUartFd, &options) != 0) {
+        close(s_psdkUartFd);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    cfsetispeed(&options, B460800);
+    cfsetospeed(&options, B460800);
+
+    options.c_cflag |= CLOCAL;
+    options.c_cflag |= CREAD;
+    options.c_cflag &= ~CRTSCTS;
+    options.c_cflag &= ~CSIZE;
+    options.c_cflag |= CS8;
+    options.c_cflag &= ~PARENB;
+    options.c_iflag &= ~INPCK;
+    options.c_cflag &= ~CSTOPB;
+    options.c_oflag &= ~OPOST;
+    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    options.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
+    options.c_cc[VTIME] = 0;
+    options.c_cc[VMIN] = 0;
+
+    tcflush(s_psdkUartFd, TCIFLUSH);
+
+    if (tcsetattr(s_psdkUartFd, TCSANOW, &options) != 0) {
+        close(s_psdkUartFd);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return returnCode;
+}
+
+T_PsdkReturnCode Hal_UartSendData(const uint8_t *pBuf, uint16_t bufLen)
+{
+    int32_t realLen;
+
+    if (s_psdkUartFd == -1) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    realLen = write(s_psdkUartFd, pBuf, bufLen);
+    if (realLen == bufLen) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+}
+
+T_PsdkReturnCode Hal_UartReadData(uint8_t *pBuf, uint16_t bufLen, uint16_t *realBufLen)
+{
+    int result;
+    T_PsdkReturnCode returnCode;
+
+    result = read(s_psdkUartFd, pBuf, bufLen);
+    if (result >= 0) {
+        *realBufLen = result;
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        *realBufLen = 0;
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/