118 lines
2.7 KiB
C
118 lines
2.7 KiB
C
//
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// Created by nano on 4/26/25.
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//
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#include "communication.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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struct sp_port ** port_list;
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struct sp_port * port;
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struct sp_event_set *event_set;
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void comm_init_communication() {
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/*
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* Initializes the serial communication for the usb -> uart board
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*/
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port_list=comm_get_port_list();
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int portnr=0;
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comm_list_serial_ports(port_list);
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printf("Chose a port: ");
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scanf("%d",&portnr);
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sp_copy_port(port_list[portnr], &port);
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sp_free_port_list(port_list);
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comm_open_port(port);
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}
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void comm_end_communication(struct sp_port *port) {
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/*
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* Ends the serial communication for the usb -> uart board
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*/
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check(sp_close(port));
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sp_free_port(port);
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//sp_free_port_list(port_list);
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}
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int comm_await() {
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// Await data from the robot
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return (sp_wait(event_set, 50) == SP_OK);
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}
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int comm_read_byte(byte *data) {
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//read available data
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//TODO: IMPLEMENT
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return 0;
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}
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int comm_write_byte(byte data) {
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// we are writing 8 bit bytes to the fpga anyways and pc -> fpga only needs to tell what do to next, can be fit in 8 bits
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//TODO: IMPLEMENT
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return 0;
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}
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struct sp_port **comm_get_port_list() {
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struct sp_port **port_list;
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enum sp_return result = sp_list_ports(&port_list);
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if (result != SP_OK) {
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printf("Error listing serial ports\n");
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exit(-1);
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}
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return port_list;
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}
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void comm_list_serial_ports(struct sp_port **port_list) {
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printf("Port list:\n");
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for (int i=0;port_list[i]!= NULL; i++) {
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char *port_name = sp_get_port_name(port_list[i]);
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printf("Port %d: %s\n", i, port_name);
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}
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}
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void comm_open_port(struct sp_port *port) {
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/*
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* Opens communication to the selected serial port and sets the correct parameters for the zigbee carrier board.
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* Also add event to see when data arrives.
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*/
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check(sp_open(port,SP_MODE_READ_WRITE));
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check(sp_set_baudrate(port,19200));
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check(sp_set_bits(port,8));
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check(sp_set_parity(port,SP_PARITY_NONE));
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check(sp_set_stopbits(port,1));
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check(sp_new_event_set(&event_set));
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sp_add_port_events(event_set, port, SP_EVENT_RX_READY);
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}
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/** Helper function for error handling. Taken from libserialport examples */
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int check(enum sp_return result)
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{
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/* For this example we'll just exit on any error by calling abort(). */
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char *error_message;
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switch (result) {
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case SP_ERR_ARG:
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printf("Error: Invalid argument.\n");
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abort();
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case SP_ERR_FAIL:
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error_message = sp_last_error_message();
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printf("Error: Failed: %s\n", error_message);
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sp_free_error_message(error_message);
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abort();
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case SP_ERR_SUPP:
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printf("Error: Not supported.\n");
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abort();
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case SP_ERR_MEM:
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printf("Error: Couldn't allocate memory.\n");
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abort();
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case SP_OK:
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default:
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return result;
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}
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}
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