--- /dev/null
+/* -*- mode:c++; indent-tabs-mode:nil -*-
+ * Copyright (c) 2007, Technische Universitaet Berlin
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - 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.
+ * - Neither the name of the Technische Universitaet Berlin 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.
+ */
+/**
+ * hand rolled bsl tool, other ones are too slow
+ * @author Andreas Koepke <koepke at tkn.tu-berlin.de>
+ * @date 2007-04-16
+ */
+#include <stdio.h>
+#include <iostream>
+
+#include "Serial.h"
+
+using namespace std;
+
+int serial_connect(int* err, const char* dev, int* readFD, int* writeFD, termios* pt)
+{
+ struct termios my_tios;
+ struct serial_struct serinfo;
+ int r = 0;
+ *readFD = -1;
+ *writeFD = -1;
+ for(int i = 0; i < 3; i++) {
+ *readFD = open(dev, O_RDONLY | O_NOCTTY | O_NONBLOCK);
+ *err = errno;
+ if(*readFD != -1) {
+ break;
+ }
+ else if((*readFD == -1) && (errno == EAGAIN)) {
+ serial_delay(1000000);
+ }
+ else {
+ return -1;
+ }
+ }
+ if(*readFD == -1) {
+ return -1;
+ }
+
+ for(int i = 0; i < 3; i++) {
+ *writeFD = open(dev, O_WRONLY | O_NOCTTY);
+ *err = errno;
+ if(*writeFD != -1) {
+ break;
+ }
+ else if((*writeFD == -1) && (errno == EAGAIN)) {
+ serial_delay(1000000);
+ }
+ else {
+ close(*readFD);
+ *readFD = -1;
+ return -1;
+ }
+ }
+ if(*writeFD == -1) {
+ close(*readFD);
+ *readFD = -1;
+ return -1;
+ }
+ /* prepare attributes */
+ r = tcgetattr(*writeFD, &my_tios);
+ if(r == -1) {
+ *err = errno;
+ close(*readFD);
+ close(*writeFD);
+ return -1;
+ }
+ *pt = my_tios;
+ cfmakeraw(&my_tios);
+ my_tios.c_iflag |= IGNBRK | INPCK;
+ my_tios.c_cflag |= (CS8 | CLOCAL | CREAD | PARENB);
+ cfsetispeed(&my_tios, B38400); // dummy
+ cfsetospeed(&my_tios, B38400); // dummy
+
+ r = tcsetattr(*readFD, TCSANOW, &my_tios);
+ if(r == -1) {
+ *err = errno;
+ r = tcsetattr(*writeFD, TCSANOW, pt);
+ close(*readFD);
+ close(*writeFD);
+ return -1;
+ }
+
+ /* hack for baudrate */
+ r = ioctl(*writeFD, TIOCGSERIAL, &serinfo);
+ if(r == -1) {
+ *err = errno;
+ r = tcsetattr(*writeFD, TCSANOW, pt);
+ close(*readFD);
+ close(*writeFD);
+ return -1;
+ }
+ serinfo.custom_divisor = serinfo.baud_base / 9600;
+ if(serinfo.custom_divisor == 0) serinfo.custom_divisor = 1;
+ serinfo.flags &= ~ASYNC_SPD_MASK;
+ serinfo.flags |= ASYNC_SPD_CUST;
+ r = ioctl(*writeFD, TIOCSSERIAL, &serinfo);
+ if(r == -1) {
+ *err = errno;
+ r = tcsetattr(*writeFD, TCSANOW, pt);
+ close(*readFD);
+ close(*writeFD);
+ return -1;
+ }
+
+ // clear buffers
+ r = tcflush(*writeFD, TCIOFLUSH);
+ if(r == -1) {
+ *err = errno;
+ r = tcsetattr(*writeFD, TCSANOW, pt);
+ close(*readFD);
+ close(*writeFD);
+ return -1;
+ }
+ if(r == -1) {
+ *err = errno;
+ r = tcsetattr(*writeFD, TCSANOW, pt);
+ close(*readFD);
+ close(*writeFD);
+ }
+ return r;
+};
+
+int BaseSerial::resetPins(int *err) {
+ int r = 0;
+ r = setRST(err);
+ r = clrTEST(err);
+ return r;
+}
+
+int BaseSerial::disconnect(int *err) {
+ int r;
+ if(serialWriteFD != -1) {
+ r = resetPins(err);
+ if(r == -1) {
+ cerr << "WARN: BaseSerial::disconnect could not reset pins, " << strerror(*err) << endl;
+ }
+ r = tcsetattr(serialWriteFD, TCSANOW, &oldtermios);
+ }
+ if(serialReadFD != -1) {
+ r = close(serialReadFD);
+ if(r == -1) {
+ *err = errno;
+ }
+ serialReadFD = -1;
+ }
+ if(serialWriteFD != -1) {
+ r = close(serialWriteFD);
+ if(r == -1) {
+ *err = errno;
+ }
+ serialWriteFD = -1;
+ }
+ return r;
+}
+
+int BaseSerial::reset(int *err) {
+ int r = 0;
+ r = setRST(err);
+ if(r == -1) return -1;
+ r = setTEST(err);
+ if(r == -1) return -1;
+ serial_delay(2500);
+ r = clrRST(err);
+ if(r == -1) return -1;
+ serial_delay(10);
+ r = setRST(err);
+ if(r == -1) return -1;
+ serial_delay(2500);
+ cout << "Reset device ..." << endl;
+ return clearBuffers(err);
+};
+
+int BaseSerial::invokeBsl(int *err) {
+ int r = 0;
+ r = setRST(err);
+ if(r == -1) return -1;
+ r = setTEST(err);
+ if(r == -1) return -1;
+ serial_delay(2500);
+ r = clrRST(err);
+ if(r == -1) return -1;
+ r = setTEST(err);
+ if(r == -1) return -1;
+ serial_delay(10);
+ r = clrTEST(err);
+ if(r == -1) return -1;
+ serial_delay(10);
+ r = setTEST(err);
+ if(r == -1) return -1;
+ serial_delay(10);
+ r = clrTEST(err);
+ if(r == -1) return -1;
+ serial_delay(10);
+ r = setRST(err);
+ if(r == -1) return -1;
+ serial_delay(10);
+ r = setTEST(err);
+ if(r == -1) return -1;
+ serial_delay(2500);
+ cout << "Invoking BSL..." << endl;
+ return clearBuffers(err);
+}
+
+int BaseSerial::readFD(int *err, char *buffer, int count, int maxCount) {
+ int cnt = 0;
+ int retries = 0;
+ timeval tv;
+ tv.tv_sec = 1;
+ tv.tv_usec = 0;
+ while(cnt == 0) {
+ 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++ >= 3) {
+ cerr << "FATAL: BaseSerial::readFD no data available after 3s" << 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 < 3; 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) {
+ struct serial_struct serinfo;
+ int 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);
+ 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(10000);
+ 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(2500);
+ 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(10000);
+ 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(2500);
+ 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;
+ return telosI2CStop(err);
+}
+
+int TelosBSerial::resetPins(int *err) {
+ int r = 0;
+ r = setRTS(err);
+ r = clrDTR(err);
+ return r;
+}
projects / tinyos-2.x.git / blobdiff