--- /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
+ */
+#ifndef BSL_SERIAL_H
+#define BSL_SERIAL_H
+
+#include <string>
+#include <inttypes.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <sys/ioctl.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <termios.h>
+#include <unistd.h>
+#include <iostream>
+#include <errno.h>
+#include <linux/serial.h>
+#include "Parameters.h"
+
+inline void serial_delay(unsigned usec) {
+ struct timeval tv;
+ tv.tv_sec = usec/1000000;
+ tv.tv_usec = usec%1000000;
+ select(0,NULL,NULL,NULL, &tv);
+};
+
+struct frame_t {
+ uint8_t HDR;
+ uint8_t CMD;
+ uint8_t L1;
+ uint8_t L2;
+ uint8_t AL;
+ uint8_t AH;
+ uint8_t LL;
+ uint8_t LH;
+ uint8_t data[252];
+} __attribute__ ((packed));
+
+/**
+ * Connect with serial device (dev), returns the opened file descriptors in *
+ * readFD and writeFD. Returns on error with something != 0 and errno is *
+ * hopefully set correctly.
+*/
+int serial_connect(int* err, const char* dev, int* readFD, int* writeFD, termios* pt);
+
+class BaseSerial {
+protected:
+ const int switchdelay;
+ termios oldtermios;
+
+protected:
+ int serialReadFD;
+ int serialWriteFD;
+ bool invertTest;
+ bool invertReset;
+ bool swapRstTest;
+
+ fd_set rfds;
+
+ enum {
+ CMD_FAILED = 0x70,
+ SYNC = 0x80,
+ DATA_ACK = 0x90,
+ DATA_NAK = 0xA0,
+ };
+
+ protected:
+ inline int setDTR(int *err) {
+ int i = TIOCM_DTR;
+ int r = ioctl(serialWriteFD, TIOCMBIS, &i);
+ if(r == -1) {
+ *err = errno;
+ std::cerr << "ERROR: BaseSerial::setDTR could not set DTR pin" << std::endl;
+ }
+ else {
+ serial_delay(switchdelay);
+ }
+ return r;
+ }
+ inline int clrDTR(int *err) {
+ int i = TIOCM_DTR;
+ int r = ioctl(serialWriteFD, TIOCMBIC, &i);
+ if(r == -1) {
+ *err = errno;
+ std::cerr << "ERROR: BaseSerial::clrDTR could not clr DTR pin" << std::endl;
+ }
+ else {
+ serial_delay(switchdelay);
+ }
+ return r;
+ }
+ inline int setRTS(int *err) {
+ int i = TIOCM_RTS;
+ int r = ioctl(serialWriteFD, TIOCMBIS, &i);
+ if(r == -1) {
+ *err = errno;
+ std::cerr << "ERROR: BaseSerial::setRTS could not set RTS pin" << std::endl;
+ }
+ else {
+ serial_delay(switchdelay);
+ }
+ return r;
+ }
+ inline int clrRTS(int *err) {
+ int i = TIOCM_RTS;
+ int r = ioctl(serialWriteFD, TIOCMBIC, &i);
+ if(r == -1) {
+ *err = errno;
+ std::cerr << "ERROR: BaseSerial::clrRTS could not clr RTS pin" << std::endl;
+ }
+ else {
+ serial_delay(switchdelay);
+ }
+ return r;
+ }
+
+ int setTEST(int *err) {
+ int r;
+ if(invertTest) { r = clrRTS(err); } else { r = setRTS(err); }
+ return r;
+ }
+
+ int clrTEST(int *err) {
+ int r;
+ if(invertTest) { r = setRTS(err); } else { r = clrRTS(err); }
+ return r;
+ }
+
+ int setRST(int *err) {
+ int r;
+ if(invertReset) { r = clrDTR(err); } else { r = setDTR(err); }
+ return r;
+ }
+
+ int clrRST(int *err) {
+ int r;
+ if(invertReset) { r= setDTR(err); } else { r = clrDTR(err); }
+ return r;
+ }
+
+ inline void checksum(frame_t *frame) {
+ uint8_t i;
+ uint8_t frameLen = frame->L1/2 + 2;
+ uint16_t *dat = (uint16_t *)frame;
+ uint16_t check = 0;
+ for(i = 0; i < frameLen; i++) {
+ check ^= dat[i];
+ }
+ dat[i] = ~check;
+ }
+
+ int readFD(int *err, char *buffer, int count, int maxCount);
+ virtual int resetPins(int *err);
+
+public:
+ BaseSerial(const termios& term, int rFD, int wFD, bool T=false, bool R=false) :
+ switchdelay(10),
+ oldtermios(term),
+ serialReadFD(rFD), serialWriteFD(wFD),
+ invertTest(T), invertReset(R) {
+ int err;
+ FD_ZERO(&rfds);
+ setRST(&err);
+ setTEST(&err);
+ }
+
+ virtual ~BaseSerial() {
+ int r;
+ int err;
+ if((serialReadFD != -1) || (serialWriteFD != -1)) {
+ r = disconnect(&err);
+ }
+ }
+
+ // communicate
+ inline int clearBuffers(int *err) {
+ int r = tcflush(serialReadFD, TCIOFLUSH);
+ if(r != 0) {
+ *err = errno;
+ }
+ else {
+ r = tcflush(serialWriteFD, TCIOFLUSH);
+ if(r != 0) {
+ *err = errno;
+ }
+ }
+ return r;
+ };
+
+ int txrx(int *err, frame_t *txframe, frame_t *rxframe);
+
+ // handle connection
+ int disconnect(int *err);
+
+ // change connection speed
+ int highSpeed(int *err);
+
+ // do initial magic on serial interface
+ virtual int reset(int *err);
+ virtual int invokeBsl(int *err);
+
+};
+
+class TelosBSerial : public BaseSerial {
+protected:
+ virtual int resetPins(int *err);
+
+ int telosSetSCL(int *err) {
+ return clrRTS(err);
+ }
+
+ int telosClrSCL(int *err) {
+ return setRTS(err);
+ }
+
+ int telosSetSDA(int *err) {
+ return clrDTR(err);
+ }
+
+ int telosClrSDA(int *err) {
+ return setDTR(err);
+ }
+
+ int telosI2CStart(int *err);
+ int telosI2CStop(int *err);
+ int telosI2CWriteBit(int *err, bool bit);
+ int telosI2CWriteByte(int* err, uint8_t byte);
+ int telosI2CWriteCmd(int*err, uint8_t addr, uint8_t cmdbyte);
+
+public:
+ TelosBSerial(const termios& term, int rFD, int wFD, bool T=false, bool R=false) :
+ BaseSerial(term, rFD, wFD, T, R) {
+ }
+
+ virtual ~TelosBSerial() {
+ }
+
+ virtual int reset(int *err);
+ virtual int invokeBsl(int *err);
+
+
+};
+
+#endif
projects / tinyos-2.x.git / blobdiff