This file contains the linux-uart interface functions. More...

#include "toposens/linux/uartinterface.h"
#include <fcntl.h>
#include <pthread.h>
#include <semaphore.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
#include "toposens/uart_wrapper.h"

Include dependency graph for uartinterface.c:

Go to the source code of this file.

Classes
struct	UartInterface_t

Macros
#define	UART_LOOP_WAIT_TIME 500

#define	UART_MAX_PAYLOAD_SIZE 10

#define	UART_TIMEOUT 1
	Defines how many seconds the ReadUart function will wait for an incoming can-frame. More...

#define	UART_TIMEOUT_US 0
	Defines how many us the ReadUart function will wait for an incoming can-frame. More...

Typedefs
typedef struct UartInterface_t	UartInterface_t

Functions
int	DeinitUARTPort ()
	Called from the can-library, this function will close the socket and take care of ReceiverThread termination. More...

static void	PrintPayload (uint8_t *Payload_pu8, uint8_t Length_u8)
	Only for debugging - print the content of an UART-Payload to stdout. More...

static void	PrintUARTPayload (uint8_t *Payload_pu8, uint8_t Length_u8)

static ssize_t	ReadMsg (uint8_t *Msg_pu8, int InterfaceFS_i)
	Should be called periodically to fetch incoming messages from the socket. More...

void *	Receiver (void *arg)
	Tries to read CAN frames as long as it is desired. Reacts to abort commands within the set CAN timeout. More...

int	ReceiverThreadShouldRunUART_b ()
	Reads the while-loop condition in a safe way. More...

void	RegisterUARTReadCallback (void(Callback)(uint8_t UARTMsg_pu8, uint16_t UARTMsgSize_u16, uint8_t InterfaceId_u8))
	This function is called by the library to set a callback function for incoming can-traffic. More...

static int	SetupInterface (char *InterfaceName_cp, uint32_t InterfaceBitrate_u32)
	Setup of uart-device with given paramters. Currently via system-call. More...

int	SetupUARTPort (char *InterfaceName_cp, uint32_t InterfaceBitrate_u32, uint8_t InterfaceId_u8)
	Called from the library, this function will take care of all linux-related uart-setup, socket configuration and starting of the receiver thread. More...

static void	StartReceiverThread (uint8_t InterfaceId_u8, uint32_t InterfaceBitrate_u32, char *InterfaceName_cp)
	Creates the Receiver Thread. More...

int	WriteUARTPayload (uint8_t *Payload_pu8, uint8_t Length_u8, uint8_t InterfaceId_u8)
	Called to send messages to can socket. More...

Variables
static bool	ConnectedToUART_b = false

static pthread_mutex_t	mutex_uart_receiver = PTHREAD_MUTEX_INITIALIZER

static void(*	ReadCallback )(uint8_t *UARTMsg_pu8, uint16_t DataSize_u16, uint8_t InterfaceId_u8) = NULL

static pthread_t	receiver_thread_id

static bool	ReceiverThreadShouldRun = false

static sem_t	thread_sem

static int	uart_fs

static int	UART_fs [MAX_NUMBER_OF_SENSORS_ON_BUS] = {-1}

Detailed Description

This file contains the linux-uart interface functions.

Copyright: Copyright (c) Toposens GmbH 2021. All rights reserved.

Definition in file uartinterface.c.

Macro Definition Documentation

◆ UART_LOOP_WAIT_TIME

#define UART_LOOP_WAIT_TIME 500

Definition at line 35 of file uartinterface.c.

◆ UART_MAX_PAYLOAD_SIZE

#define UART_MAX_PAYLOAD_SIZE 10

Definition at line 34 of file uartinterface.c.

◆ UART_TIMEOUT

#define UART_TIMEOUT 1

Defines how many seconds the ReadUart function will wait for an incoming can-frame.

Definition at line 29 of file uartinterface.c.

◆ UART_TIMEOUT_US

#define UART_TIMEOUT_US 0

Defines how many us the ReadUart function will wait for an incoming can-frame.

Definition at line 33 of file uartinterface.c.

Typedef Documentation

◆ UartInterface_t

typedef struct UartInterface_t UartInterface_t

Function Documentation

◆ DeinitUARTPort()

int DeinitUARTPort ( )

Called from the can-library, this function will close the socket and take care of ReceiverThread termination.

Returns: int 0 if deinit was successful int 1 in case of an error

Definition at line 204 of file uartinterface.c.

◆ PrintPayload()

static void PrintPayload	(	uint8_t *	Payload_pu8,
		uint8_t	Length_u8
	)

static

Only for debugging - print the content of an UART-Payload to stdout.

Parameters

[in]	Payload_pu8	pointer to payload that should be printed
[in]	Length_u8	length of payload

Definition at line 154 of file uartinterface.c.

◆ PrintUARTPayload()

static void PrintUARTPayload	(	uint8_t *	Payload_pu8,
		uint8_t	Length_u8
	)

static

Parameters

[in]	*Payload_pu8
[in]	Length_u8

Definition at line 299 of file uartinterface.c.

◆ ReadMsg()

static ssize_t ReadMsg	(	uint8_t *	Msg_pu8,
		int	InterfaceFS_i
	)

static

Should be called periodically to fetch incoming messages from the socket.

Parameters

[in]	*Msg_pu8
[in]	InterfaceFS_i

Returns: can_frame Read-CAN-Frame. If no message was received after timeout, it will retrun an empty frame.

Definition at line 133 of file uartinterface.c.

◆ Receiver()

void * Receiver ( void * arg )

Tries to read CAN frames as long as it is desired. Reacts to abort commands within the set CAN timeout.

Parameters

[in] *arg

Definition at line 244 of file uartinterface.c.

◆ ReceiverThreadShouldRunUART_b()

int ReceiverThreadShouldRunUART_b ( )

Reads the while-loop condition in a safe way.

Returns: int 0 if receiver should stop int 1 if receiver should be running

Definition at line 233 of file uartinterface.c.

◆ RegisterUARTReadCallback()

void RegisterUARTReadCallback ( void(*)(uint8_t *UARTMsg_pu8, uint16_t UARTMsgSize_u16, uint8_t InterfaceId_u8) Callback )

This function is called by the library to set a callback function for incoming can-traffic.

Parameters

[in] (*Callback) Function Pointer to function that shall be called-back if a can-frame was revived

Definition at line 126 of file uartinterface.c.

◆ SetupInterface()

static int SetupInterface	(	char *	InterfaceName_cp,
		uint32_t	InterfaceBitrate_u32
	)

static

Setup of uart-device with given paramters. Currently via system-call.

Parameters

[in]	*InterfaceName_cp	interface-name that shall be configured
[in]	InterfaceBitrate_u32	the interface should be working with

Returns: int 0 if setup was successful int 1 in case of an error

Definition at line 163 of file uartinterface.c.

◆ SetupUARTPort()

int SetupUARTPort	(	char *	InterfaceName_cp,
		uint32_t	InterfaceBitrate_u32,
		uint8_t	InterfaceId_u8
	)

Called from the library, this function will take care of all linux-related uart-setup, socket configuration and starting of the receiver thread.

Parameters

[in]	*InterfaceName_cp	interface-name that shall be configured
[in]	InterfaceBitrate_u32	Bitrate the interface should be working with
[in]	InterfaceId_u8

Returns: int 0 if setup was successful int 1 in case of an error

Definition at line 189 of file uartinterface.c.

◆ StartReceiverThread()

static void StartReceiverThread	(	uint8_t	InterfaceId_u8,
		uint32_t	InterfaceBitrate_u32,
		char *	InterfaceName_cp
	)

static

Creates the Receiver Thread.

Parameters

[in]	InterfaceId_u8
[in]	InterfaceBitrate_u32
[in]	*InterfaceName_cp

Definition at line 213 of file uartinterface.c.

◆ WriteUARTPayload()

int WriteUARTPayload	(	uint8_t *	Payload_pu8,
		uint8_t	Length_u8,
		uint8_t	InterfaceId_u8
	)

Called to send messages to can socket.

Parameters

[in]	*Payload_pu8	pointer to payload that should be send
[in]	Length_u8
[in]	InterfaceId_u8

Returns: int 0 if the writing was successful int 1 in case of an error

Definition at line 140 of file uartinterface.c.

Variable Documentation

◆ ConnectedToUART_b

bool ConnectedToUART_b = false

static

Definition at line 120 of file uartinterface.c.

◆ mutex_uart_receiver

pthread_mutex_t mutex_uart_receiver = PTHREAD_MUTEX_INITIALIZER

static

Definition at line 115 of file uartinterface.c.

◆ ReadCallback

void(* ReadCallback) (uint8_t *UARTMsg_pu8, uint16_t DataSize_u16, uint8_t InterfaceId_u8) = NULL

static

Definition at line 117 of file uartinterface.c.

◆ receiver_thread_id

pthread_t receiver_thread_id

static

Definition at line 109 of file uartinterface.c.

◆ ReceiverThreadShouldRun

bool ReceiverThreadShouldRun = false

static

Definition at line 111 of file uartinterface.c.

◆ thread_sem

sem_t thread_sem

static

Definition at line 113 of file uartinterface.c.

◆ uart_fs

int uart_fs

static

Definition at line 119 of file uartinterface.c.

◆ UART_fs

int UART_fs[MAX_NUMBER_OF_SENSORS_ON_BUS] = {-1}

static

Definition at line 121 of file uartinterface.c.

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ UART_LOOP_WAIT_TIME

◆ UART_MAX_PAYLOAD_SIZE

◆ UART_TIMEOUT

◆ UART_TIMEOUT_US

Typedef Documentation

◆ UartInterface_t

Function Documentation

◆ DeinitUARTPort()

◆ PrintPayload()

◆ PrintUARTPayload()

◆ ReadMsg()

◆ Receiver()

◆ ReceiverThreadShouldRunUART_b()

◆ RegisterUARTReadCallback()

◆ SetupInterface()

◆ SetupUARTPort()

◆ StartReceiverThread()

◆ WriteUARTPayload()

Variable Documentation

◆ ConnectedToUART_b

◆ mutex_uart_receiver

◆ ReadCallback

◆ receiver_thread_id

◆ ReceiverThreadShouldRun

◆ thread_sem

◆ uart_fs

◆ UART_fs