Skip to content

Commit

Permalink
transports: use zephyr DT macros to set the serial
Browse files Browse the repository at this point in the history 
port for serial transport.

Signed-off-by: Felipe <[email protected]>
  • Loading branch information
Felipe committed Aug 11, 2022
1 parent c67b2e8 commit af8165d
Show file tree
Hide file tree
Showing 6 changed files with 40 additions and 50 deletions.
9 changes: 9 additions & 0 deletions boards/disco_l475_iot1.overlay
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
/ {
aliases {
uros-serial-port = &usart1;
};
};

&usart1 {
status = "okay";
};
42 changes: 22 additions & 20 deletions modules/libmicroros/microros_transports/serial-usb/microros_transports.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ char uart_out_buffer[RING_BUF_SIZE];

struct ring_buf out_ringbuf, in_ringbuf;

static void uart_fifo_callback(const struct device *dev, void * user_data){
static void uart_fifo_callback(const struct device *dev, void *user_data){
while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
if (uart_irq_rx_ready(dev)) {
int recv_len;
Expand Down Expand Up @@ -53,14 +53,15 @@ static void uart_fifo_callback(const struct device *dev, void * user_data){
}

bool zephyr_transport_open(struct uxrCustomTransport * transport){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;

int ret;
uint32_t baudrate, dtr = 0U;
const struct device *uart_dev;


params->uart_dev = device_get_binding("CDC_ACM_0");
if (!params->uart_dev) {
/* for serial-usb transport we just override the device pointer
* with USB to use the same interface
*/
transport->args = (void *)device_get_binding("CDC_ACM_0");
if (!transport->args) {
printk("CDC ACM device not found\n");
return false;
}
Expand All @@ -71,13 +72,15 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
return false;
}

uart_dev = (const struct device *)transport->args;
ring_buf_init(&out_ringbuf, sizeof(uart_out_buffer), uart_out_buffer);
ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);

printk("Waiting for agent connection\n");

while (true) {
uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_DTR, &dtr);

uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_DTR, &dtr);
if (dtr) {
break;
} else {
Expand All @@ -89,47 +92,46 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
printk("Serial port connected!\n");

/* They are optional, we use them to test the interrupt endpoint */
ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DCD, 1);
ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DCD, 1);
if (ret) {
printk("Failed to set DCD, ret code %d\n", ret);
}

ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DSR, 1);
ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DSR, 1);
if (ret) {
printk("Failed to set DSR, ret code %d\n", ret);
}

/* Wait 1 sec for the host to do all settings */
k_busy_wait(1000*1000);

ret = uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
ret = uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
if (ret) {
printk("Failed to get baudrate, ret code %d\n", ret);
}

uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
uart_irq_callback_set(uart_dev, uart_fifo_callback);

/* Enable rx interrupts */
uart_irq_rx_enable(params->uart_dev);
uart_irq_rx_enable(uart_dev);

return true;
}

bool zephyr_transport_close(struct uxrCustomTransport * transport){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
(void) params;
(void)transport;

return true;
}

size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
const struct device * uart_dev = (const struct device *) transport->args;

size_t wrote;

wrote = ring_buf_put(&out_ringbuf, buf, len);

uart_irq_tx_enable(params->uart_dev);
uart_irq_tx_enable(uart_dev);

while (!ring_buf_is_empty(&out_ringbuf)){
k_sleep(K_MSEC(5));
Expand All @@ -139,7 +141,7 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
}

size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
const struct device * uart_dev = (const struct device *) transport->args;

size_t read = 0;
int spent_time = 0;
Expand All @@ -149,9 +151,9 @@ size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
spent_time++;
}

uart_irq_rx_disable(params->uart_dev);
uart_irq_rx_disable(uart_dev);
read = ring_buf_get(&in_ringbuf, buf, len);
uart_irq_rx_enable(params->uart_dev);
uart_irq_rx_enable(uart_dev);

return read;
}
6 changes: 0 additions & 6 deletions modules/libmicroros/microros_transports/serial-usb/microros_transports.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,13 +24,7 @@ extern "C"
{
#endif

typedef struct {
size_t fd;
const struct device *uart_dev;
} zephyr_transport_params_t;

#define MICRO_ROS_FRAMING_REQUIRED true
static zephyr_transport_params_t default_params;

bool zephyr_transport_open(struct uxrCustomTransport * transport);
bool zephyr_transport_close(struct uxrCustomTransport * transport);
Expand Down
25 changes: 8 additions & 17 deletions modules/libmicroros/microros_transports/serial/microros_transports.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -40,24 +40,15 @@ static void uart_fifo_callback(const struct device * dev, void * args){
}
}


bool zephyr_transport_open(struct uxrCustomTransport * transport){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;

char uart_descriptor[8];
sprintf(uart_descriptor,"UART_%d", params->fd);
params->uart_dev = device_get_binding(uart_descriptor);
if (!params->uart_dev) {
printk("Serial device not found\n");
return false;
}
const struct device * uart_dev = (const struct device *) transport->args;

ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);

uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
uart_irq_callback_set(uart_dev, uart_fifo_callback);

/* Enable rx interrupts */
uart_irq_rx_enable(params->uart_dev);
uart_irq_rx_enable(uart_dev);

return true;
}
Expand All @@ -69,18 +60,18 @@ bool zephyr_transport_close(struct uxrCustomTransport * transport){
}

size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
const struct device * uart_dev = (const struct device *) transport->args;

for (size_t i = 0; i < len; i++)
{
uart_poll_out(params->uart_dev, buf[i]);
uart_poll_out(uart_dev, buf[i]);
}

return len;
}

size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
const struct device * uart_dev = (const struct device *) transport->args;

size_t read = 0;
int spent_time = 0;
Expand All @@ -90,9 +81,9 @@ size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
spent_time++;
}

uart_irq_rx_disable(params->uart_dev);
uart_irq_rx_disable(uart_dev);
read = ring_buf_get(&in_ringbuf, buf, len);
uart_irq_rx_enable(params->uart_dev);
uart_irq_rx_enable(uart_dev);

return read;
}
6 changes: 0 additions & 6 deletions modules/libmicroros/microros_transports/serial/microros_transports.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,13 +24,7 @@ extern "C"
{
#endif

typedef struct {
size_t fd;
const struct device * uart_dev;
} zephyr_transport_params_t;

#define MICRO_ROS_FRAMING_REQUIRED true
volatile static zephyr_transport_params_t default_params = {.fd = 1};

bool zephyr_transport_open(struct uxrCustomTransport * transport);
bool zephyr_transport_close(struct uxrCustomTransport * transport);
Expand Down
2 changes: 1 addition & 1 deletion src/main.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ void main(void)
{
rmw_uros_set_custom_transport(
MICRO_ROS_FRAMING_REQUIRED,
(void *) &default_params,
(void *) DEVICE_DT_GET(DT_ALIAS(uros_serial_port)),
zephyr_transport_open,
zephyr_transport_close,
zephyr_transport_write,
Expand Down

0 comments on commit af8165d

Please sign in to comment.