140 lines
4.4 KiB
C
140 lines
4.4 KiB
C
/**
|
||
********************************************************************
|
||
* @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****/
|