cdcacm.c
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "cdcacm.h"
#include <string.h>
#include<stdio.h>
#include<fcntl.h>
#include<termios.h>
#include <sys/types.h>
#include <sys/boardctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <debug.h>
#include "cdcacm.h"
//#define SERIAL_TRACE
int g_usb_df = -1;
char *g_device = 0;
char *g_init = 0;
#if defined(SERIAL_TRACE)
int in = 0;
int out = 0;
// must be power of 2 length
#define TRACE_SIZE 256
#define TRACE_WRAP(f) ((f) &=(TRACE_SIZE-1))
char in_trace[TRACE_SIZE];
char out_trace[TRACE_SIZE];
#endif
void usb_cinit(void *config)
{
#if defined(SERIAL_TRACE)
in = 0;
out = 0;
memset(in_trace, 0, sizeof(in_trace));
memset(out_trace, 0, sizeof(out_trace));
#endif
g_init = strdup(config ? (char *) config : "");
char *pt = strtok((char *) g_init, ",");
if (pt != NULL) {
g_device = pt;
}
g_usb_df = -1;
int fd = open(g_device, O_RDWR | O_NONBLOCK);
if (fd >= 0) {
g_usb_df = fd;
free(g_init);
}
}
void usb_cfini(void)
{
close(g_usb_df);
g_usb_df = -1;
}
int usb_cin(void)
{
int c = -1;
if (g_usb_df < 0) {
int fd = open(g_device, O_RDWR | O_NONBLOCK);
if (fd < 0) {
return c;
}
g_usb_df = fd;
free(g_init);
}
char b;
if (read(g_usb_df, &b, 1) == 1) {
c = b;
#if defined(SERIAL_TRACE)
in_trace[in++] = b;
TRACE_WRAP(in);
#endif
}
return c;
}
void usb_cout(uint8_t *buf, unsigned len)
{
write(g_usb_df, buf, len);
#if defined(SERIAL_TRACE)
if (len > TRACE_SIZE) {
len = TRACE_SIZE;
out = 0;
}
for (unsigned i = 0; i < len; i++) {
out_trace[out++] = buf[i];
TRACE_WRAP(out);
}
#endif
}