serial.cc

tinyos-2.x.rar

        int tmpCnt = read(serialReadFD, buffer, maxCount);
        *err = errno;
        if((tmpCnt == 0) || ((tmpCnt < 0) && (errno == EAGAIN))) {
            FD_SET(serialReadFD, &rfds);
            if(select(serialReadFD + 1, &rfds, NULL, NULL, &tv) < 0) {
                *err = errno;
                return -1;
            }
            FD_CLR(serialReadFD, &rfds);
            if(retries++ >= 2) {
                cerr << "FATAL: BaseSerial::readFD no data available after 1s" << endl;
                return -1;
            }
        }
        else if(tmpCnt > 0) {
            cnt += tmpCnt;
        }
        else {
            return -1;
        }
    }
    return cnt;
}

int BaseSerial::txrx(int *err, frame_t *txframe, frame_t *rxframe) {
    int r = 0;
    char sync = SYNC;
    uint8_t ack = 0;
    if((txframe == NULL) || (txframe->L1 < 4) || ((txframe->L1 & 1) != 0) || (rxframe == NULL)) {
        cerr << "BaseSerial::txrx: precondition not fulfilled, "
             << " txFrame: " << txframe
             << " rxFrame: " << rxframe
             << " txframe->L1: " << (unsigned) txframe->L1
             << endl;
        return -1;
    }
    for(unsigned i = 0; i < 2; i++) {
        r = write(serialWriteFD,&sync, 1);
        if(r == -1) {
            *err = errno;
            if(errno != EAGAIN) return -1;
        }
        r = readFD(err, (char *)(&ack),1,1);
        if(r == 1) {
            if(ack == DATA_ACK) {
                r = 0;
                break;
            }
            else {
                cerr << "WARN: BaseSerial::txrx: received " << hex << (unsigned) ack
                     << " when trying to sync with node." << dec << endl;
            }
        }
        else {
            if((r == -1) && (errno == EAGAIN)) {
                // retry to sync
            }
            else {
                cerr << "FATAL: BaseSerial::txrx could not SYNC with node" << endl;
                return -1;
            }
        } 
    }
    if(r == -1) {
        return -1;
    }
    r = clearBuffers(err); 
    if(r == -1) return r;
    // transmit frame
    checksum(txframe);    
    r = write(serialWriteFD, (char *)txframe, txframe->L1 + 6);
    if(r < txframe->L1 + 6) {
        *err = errno;
        return -1;
    }
    // receive response
    int len = 0;
    rxframe->L1 = 4;
    r = 0;
    while(r >= 0) {
        r = readFD(err, (char *)rxframe, sizeof(frame_t), sizeof(frame_t));
        if(r == -1) {
            return -1;
        }
        else if(r >= 1) {
            len += r;
            if(rxframe->HDR == DATA_ACK) {
                break;
            }            
            else if(rxframe->HDR == DATA_NAK) {
                cerr << "BaseSerial::txrx frame not valid, command "
                     << hex << (unsigned) txframe->CMD << dec 
                     << " not defined or not allowed" << endl;
                return -1;
            }
            else if(rxframe->HDR == SYNC) {
                if(len >= rxframe->L1 + 6) {
                    break;
                }
            }
            else {
                cerr << "FATAL: BaseSerial::txrx: received "
                     << hex << (unsigned) rxframe->HDR
                     << " when trying to execute " << hex << (unsigned) txframe->CMD << dec << endl;
                break;
            }
        }
    }
    return r;
}

int BaseSerial::highSpeed(int *err) {
    int r;
#if defined(HAVE_LINUX_VERSION_H) && (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,24))
    struct serial_struct serinfo;
    r = ioctl(serialWriteFD, TIOCGSERIAL, &serinfo);
    if(r == -1) {
        *err = errno;
        return -1;
    }
    serinfo.custom_divisor = serinfo.baud_base / 38400;
    if(serinfo.custom_divisor == 0) serinfo.custom_divisor = 1;
    serinfo.flags &= ~ASYNC_SPD_MASK;
    serinfo.flags |= ASYNC_SPD_CUST;
    r = ioctl(serialWriteFD, TIOCSSERIAL, &serinfo);
#else
    struct termios my_tios;
    r = tcgetattr(serialWriteFD, &my_tios);
    cfsetispeed(&my_tios, B38400); 
    cfsetospeed(&my_tios, B38400);
    r = tcsetattr(serialReadFD, TCSANOW, &my_tios);
    if(r == -1) {
        *err = errno;
    }
    else {
        r = tcsetattr(serialWriteFD, TCSANOW, &my_tios);
    }
#endif    
    if(r == -1) {
        *err = errno;
        return -1;
    }
    return r;
}

int TelosBSerial::reset(int *err) {
    int r;
    r = telosI2CWriteCmd(err, 0, 0);
    if(r == -1) return r;
    serial_delay(switchdelay);
    r = telosI2CWriteCmd(err, 0, 3);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 2);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 0);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 0);
    if(r == -1) return r;
    serial_delay(switchdelay);
    cout << "Reset device ..." << endl;
    return clearBuffers(err);
}

int TelosBSerial::invokeBsl(int *err) {
    int r;
    r = telosI2CWriteCmd(err, 0, 0);
    if(r == -1) return r;
    serial_delay(switchdelay);
    r = telosI2CWriteCmd(err, 0, 1);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 3);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 1);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 3);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 2);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 0);
    if(r == -1) return r;
    r = telosI2CWriteCmd(err, 0, 0);
    if(r == -1) return r;
    serial_delay(switchdelay);
    cout << "Invoking BSL..." << endl;
    return clearBuffers(err);
}

int TelosBSerial::telosI2CStart(int *err) {
    int r;
    r = telosSetSDA(err);
    if(r == -1) return -1;
    r = telosSetSCL(err);
    if(r == -1) return -1;
    r = telosClrSDA(err);
    return r;
}

int TelosBSerial::telosI2CStop(int *err) {
    int r;
    r = telosClrSDA(err);
    if(r == -1) return r;
    r = telosSetSCL(err);
    if(r == -1) return r;
    r = telosSetSDA(err);
    return r;
}

int TelosBSerial::telosI2CWriteBit(int *err, bool bit) {
    int r = telosClrSCL(err);
    if(r == -1) return r;
    if(bit) {
        r = telosSetSDA(err);
        if(r == -1) return r;
    } else {
        r = telosClrSDA(err);
        if(r == -1) return r;
    }
    r = telosSetSCL(err);
    if(r == -1) return r;
    r = telosClrSCL(err);
    return r;
}

int TelosBSerial::telosI2CWriteByte(int *err, uint8_t byte) {
    int r;
    r = telosI2CWriteBit(err,  byte & 0x80 );
    if(r == -1) return r;
    r = telosI2CWriteBit(err,  byte & 0x40 );
    if(r == -1) return r;
    r = telosI2CWriteBit(err,  byte & 0x20 );
    if(r == -1) return r;
    r = telosI2CWriteBit(err,  byte & 0x10 );
    if(r == -1) return r;
    r = telosI2CWriteBit(err,  byte & 0x08 );
    if(r == -1) return r;
    r = telosI2CWriteBit(err,  byte & 0x04 );
    if(r == -1) return r;
    r = telosI2CWriteBit(err,  byte & 0x02 );
    if(r == -1) return r;
    r = telosI2CWriteBit(err,  byte & 0x01 );
    if(r == -1) return r;
    return telosI2CWriteBit(err,  0 );
}

int TelosBSerial::telosI2CWriteCmd(int *err, uint8_t addr, uint8_t cmdbyte) {
    int r;
    r = telosI2CStart(err);
    if(r == -1) return r;
    r = telosI2CWriteByte(err,  0x90 | (addr << 1) );
    if(r == -1) return r;
    r = telosI2CWriteByte(err,  cmdbyte );
    if(r == -1) return r;
    r = telosI2CStop(err);
    if(r == -1) return r;
    return clearBuffers(err);
}

int TelosBSerial::setPins(int *err) {
    return 0;
}

int TelosBSerial::resetPins(int *err) {
    return 0;
}