hyperion.ng/test/TestUartHighSpeed.cpp
T. van der Zwan 9396583551 Added PiBlaster device
Former-commit-id: d8559d17a5c1496aa5274da2b56a3e7b45a6d1f9
2014-01-04 10:35:11 +00:00

387 lines
11 KiB
C++

#include <random>
#include <iostream>
#include <stdio.h>
#include <unistd.h> //Used for UART
#include <fcntl.h> //Used for UART
#include <termios.h> //Used for UART
#include <sys/ioctl.h>
#include <linux/serial.h>
#include <csignal>
#include <cstdint>
#include <bitset>
#include <vector>
#include <pthread.h>
#include <sched.h>
void set_realtime_priority() {
int ret;
// We'll operate on the currently running thread.
pthread_t this_thread = pthread_self();
// struct sched_param is used to store the scheduling priority
struct sched_param params;
// We'll set the priority to the maximum.
params.sched_priority = sched_get_priority_max(SCHED_FIFO);
std::cout << "Trying to set thread realtime prio = " << params.sched_priority << std::endl;
// Attempt to set thread real-time priority to the SCHED_FIFO policy
ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
if (ret != 0) {
// Print the error
std::cout << "Unsuccessful in setting thread realtime prio (erno=" << ret << ")" << std::endl;
return;
}
// Now verify the change in thread priority
int policy = 0;
ret = pthread_getschedparam(this_thread, &policy, &params);
if (ret != 0) {
std::cout << "Couldn't retrieve real-time scheduling paramers" << std::endl;
return;
}
// Check the correct policy was applied
if(policy != SCHED_FIFO) {
std::cout << "Scheduling is NOT SCHED_FIFO!" << std::endl;
} else {
std::cout << "SCHED_FIFO OK" << std::endl;
}
// Print thread scheduling priority
std::cout << "Thread priority is " << params.sched_priority << std::endl;
}
struct ColorSignal
{
uint8_t green_1;
uint8_t green_2;
uint8_t green_3;
uint8_t green_4;
uint8_t red_1;
uint8_t red_2;
uint8_t red_3;
uint8_t red_4;
uint8_t blue_1;
uint8_t blue_2;
uint8_t blue_3;
uint8_t blue_4;
};
static ColorSignal RED_Signal = { 0xCE, 0xCE, 0xCE, 0xCE,
0xCE, 0x8C, 0x8C, 0x8C,
0xCE, 0xCE, 0xCE, 0xCE };
static ColorSignal GREEN_Signal = { 0xCE, 0x8C, 0x8C, 0x8C,
0xCE, 0xCE, 0xCE, 0xCE,
0xCE, 0xCE, 0xCE, 0xCE };
static ColorSignal BLUE_Signal = { 0xCE, 0xCE, 0xCE, 0xCE,
0xCE, 0xCE, 0xCE, 0xCE,
0xCE, 0x8C, 0x8C, 0x8C};
static ColorSignal BLACK_Signal = { 0xCE, 0xCE, 0xCE, 0xCE,
0xCE, 0xCE, 0xCE, 0xCE,
0xCE, 0xCE, 0xCE, 0xCE};
static volatile bool _running;
void signal_handler(int signum)
{
_running = false;
}
void test3bitsEncoding();
int main()
{
if (true)
{
test3bitsEncoding();
return 0;
}
_running = true;
signal(SIGTERM, &signal_handler);
//-------------------------
//----- SETUP USART 0 -----
//-------------------------
//At bootup, pins 8 and 10 are already set to UART0_TXD, UART0_RXD (ie the alt0 function) respectively
int uart0_filestream = -1;
//OPEN THE UART
//The flags (defined in fcntl.h):
// Access modes (use 1 of these):
// O_RDONLY - Open for reading only.
// O_RDWR - Open for reading and writing.
// O_WRONLY - Open for writing only.
//
// O_NDELAY / O_NONBLOCK (same function) - Enables nonblocking mode. When set read requests on the file can return immediately with a failure status
// if there is no input immediately available (instead of blocking). Likewise, write requests can also return
// immediately with a failure status if the output can't be written immediately.
//
// O_NOCTTY - When set and path identifies a terminal device, open() shall not cause the terminal device to become the controlling terminal for the process.
uart0_filestream = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY | O_NDELAY); //Open in non blocking read/write mode
if (uart0_filestream == -1)
{
//ERROR - CAN'T OPEN SERIAL PORT
printf("Error - Unable to open UART. Ensure it is not in use by another application\n");
}
// if (0)
{
//CONFIGURE THE UART
//The flags (defined in /usr/include/termios.h - see http://pubs.opengroup.org/onlinepubs/007908799/xsh/termios.h.html):
// Baud rate:- B1200, B2400, B4800, B9600, B19200, B38400, B57600, B115200, B230400, B460800, B500000, B576000, B921600, B1000000, B1152000, B1500000, B2000000, B2500000, B3000000, B3500000, B4000000
// CSIZE:- CS5, CS6, CS7, CS8
// CLOCAL - Ignore modem status lines
// CREAD - Enable receiver
// IGNPAR = Ignore characters with parity errors
// ICRNL - Map CR to NL on input (Use for ASCII comms where you want to auto correct end of line characters - don't use for bianry comms!)
// PARENB - Parity enable
// PARODD - Odd parity (else even)
struct termios options;
tcgetattr(uart0_filestream, &options);
options.c_cflag = B4000000 | CS8 | CLOCAL; //<Set baud rate
options.c_iflag = IGNPAR;
options.c_oflag = 0;
options.c_lflag = 0;
cfmakeraw(&options);
std::cout << "options.c_cflag = " << options.c_cflag << std::endl;
std::cout << "options.c_iflag = " << options.c_iflag << std::endl;
std::cout << "options.c_oflag = " << options.c_oflag << std::endl;
std::cout << "options.c_lflag = " << options.c_lflag << std::endl;
tcflush(uart0_filestream, TCIFLUSH);
tcsetattr(uart0_filestream, TCSANOW, &options);
// Let's verify configured options
tcgetattr(uart0_filestream, &options);
std::cout << "options.c_cflag = " << options.c_cflag << std::endl;
std::cout << "options.c_iflag = " << options.c_iflag << std::endl;
std::cout << "options.c_oflag = " << options.c_oflag << std::endl;
std::cout << "options.c_lflag = " << options.c_lflag << std::endl;
}
{
struct serial_struct ser;
if (-1 == ioctl(uart0_filestream, TIOCGSERIAL, &ser))
{
std::cerr << "Failed to obtian 'serial_struct' for setting custom baudrate" << std::endl;
}
std::cout << "Current divisor: " << ser.custom_divisor << " ( = " << ser.baud_base << " / 4000000" << std::endl;
// set custom divisor
ser.custom_divisor = ser.baud_base / 8000000;
// update flags
ser.flags &= ~ASYNC_SPD_MASK;
ser.flags |= ASYNC_SPD_CUST;
std::cout << "Current divisor: " << ser.custom_divisor << " ( = " << ser.baud_base << " / 8000000" << std::endl;
if (-1 == ioctl(uart0_filestream, TIOCSSERIAL, &ser))
{
std::cerr << "Failed to configure 'serial_struct' for setting custom baudrate" << std::endl;
}
// Check result
if (-1 == ioctl(uart0_filestream, TIOCGSERIAL, &ser))
{
std::cerr << "Failed to obtian 'serial_struct' for setting custom baudrate" << std::endl;
}
std::cout << "Current divisor: " << ser.custom_divisor << " ( = " << ser.baud_base << " / 4000000" << std::endl;
}
if (uart0_filestream < 0)
{
std::cerr << "Opening the device has failed" << std::endl;
return -1;
}
//----- TX BYTES -----
std::vector<ColorSignal> signalData(10, RED_Signal);
int loopCnt = 0;
std::cout << "Type 'c' to continue, 'q' or 'x' to quit: ";
while (_running)
{
char c = getchar();
if (c == 'q' || c == 'x')
{
break;
}
if (c != 'c')
{
continue;
}
set_realtime_priority();
for (int iRun=0; iRun<10; ++iRun)
{
// tcflush(uart0_filestream, TCOFLUSH);
write(uart0_filestream, signalData.data(), signalData.size()*sizeof(ColorSignal));
tcdrain(uart0_filestream);
usleep(100000);
++loopCnt;
if (loopCnt%3 == 2)
signalData = std::vector<ColorSignal>(10, GREEN_Signal);
else if(loopCnt%3 == 1)
signalData = std::vector<ColorSignal>(10, BLUE_Signal);
else if(loopCnt%3 == 0)
signalData = std::vector<ColorSignal>(10, RED_Signal);
}
}
signalData = std::vector<ColorSignal>(50, BLACK_Signal);
write(uart0_filestream, signalData.data(), signalData.size()*sizeof(ColorSignal));
//----- CLOSE THE UART -----
close(uart0_filestream);
std::cout << "Program finished" << std::endl;
return 0;
}
std::vector<uint8_t> bit3Encode(const std::vector<uint8_t> & bytes);
uint8_t bit3Encode(const bool bit_1, const bool bit_2, const bool bit_3);
void test3bitsEncoding()
{
//OPEN THE UART
int uart0_filestream = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY | O_NDELAY);
if (uart0_filestream == -1)
{
//ERROR - CAN'T OPEN SERIAL PORT
printf("Error - Unable to open UART. Ensure it is not in use by another application\n");
return;
}
// Configure the port
struct termios options;
tcgetattr(uart0_filestream, &options);
options.c_cflag = B2500000 | CS7 | CLOCAL;
options.c_iflag = IGNPAR;
options.c_oflag = 0;
options.c_lflag = 0;
tcflush(uart0_filestream, TCIFLUSH);
tcsetattr(uart0_filestream, TCSANOW, &options);
std::vector<uint8_t> colorRed;
for (unsigned i=0; i<10; ++i)
{
colorRed.push_back(0x00);
colorRed.push_back(0xFF);
colorRed.push_back(0x00);
}
std::vector<uint8_t> colorGreen;
for (unsigned i=0; i<10; ++i)
{
colorGreen.push_back(0xFF);
colorGreen.push_back(0x00);
colorGreen.push_back(0x00);
}
std::vector<uint8_t> colorBlue;
for (unsigned i=0; i<10; ++i)
{
colorBlue.push_back(0x00);
colorBlue.push_back(0x00);
colorBlue.push_back(0xFF);
}
std::vector<uint8_t> colorBlack;
for (unsigned i=0; i<10; ++i)
{
colorBlack.push_back(0x00);
colorBlack.push_back(0x00);
colorBlack.push_back(0x00);
}
const std::vector<uint8_t> colorRedSignal = bit3Encode(colorRed);
const std::vector<uint8_t> colorGreenSignal = bit3Encode(colorGreen);
const std::vector<uint8_t> colorBlueSignal = bit3Encode(colorBlue);
const std::vector<uint8_t> colorBlackSignal = bit3Encode(colorBlack);
for (unsigned i=0; i<100; ++i)
{
size_t res;
res = write(uart0_filestream, colorRedSignal.data(), colorRedSignal.size());
(void)res;
usleep(100000);
res = write(uart0_filestream, colorGreenSignal.data(), colorGreenSignal.size());
(void)res;
usleep(100000);
res = write(uart0_filestream, colorBlueSignal.data(), colorBlueSignal.size());
(void)res;
usleep(100000);
}
size_t res = write(uart0_filestream, colorBlackSignal.data(), colorBlackSignal.size());
(void)res;
//----- CLOSE THE UART -----
res = close(uart0_filestream);
(void)res;
std::cout << "Program finished" << std::endl;
}
std::vector<uint8_t> bit3Encode(const std::vector<uint8_t> & bytes)
{
std::vector<uint8_t> result;
for (unsigned iByte=0; iByte<bytes.size(); iByte+=3)
{
const uint8_t & byte1 = bytes[iByte];
const uint8_t & byte2 = bytes[iByte + 1];
const uint8_t & byte3 = bytes[iByte + 2];
result.push_back(bit3Encode(byte1 & 0x80, byte1 & 0x40, byte1 & 0x20));
result.push_back(bit3Encode(byte1 & 0x10, byte1 & 0x08, byte1 & 0x04));
result.push_back(bit3Encode(byte1 & 0x02, byte1 & 0x01, byte2 & 0x80));
result.push_back(bit3Encode(byte2 & 0x40, byte2 & 0x20, byte2 & 0x10));
result.push_back(bit3Encode(byte2 & 0x08, byte2 & 0x04, byte2 & 0x02));
result.push_back(bit3Encode(byte2 & 0x01, byte3 & 0x80, byte3 & 0x40));
result.push_back(bit3Encode(byte3 & 0x20, byte3 & 0x10, byte3 & 0x08));
result.push_back(bit3Encode(byte3 & 0x04, byte3 & 0x02, byte3 & 0x01));
}
return result;
}
uint8_t bit3Encode(const bool bit_1, const bool bit_2, const bool bit_3)
{
// Bit index(default):1 2 3
// | | |
// default value (1) 00 100 10 (0)
//
// Reversed value (1) 01 001 00 (0)
// | | |
// Bit index (rev): 3 2 1
uint8_t result = 0x24;
if(bit_1)
{
result |= 0x01;
}
if (bit_2)
{
result |= 0x08;
}
if (bit_3)
{
result |= 0x40;
}
return ~result;
}