rs485 working again. had to add termios stuff and set baud

compile_commands.json

@@ -31,11 +31,11 @@
             "-Icfg",
             "-Iinc",
             "-o",
-            "build/p_idp.o",
+            "build/p_serial_packet.o",
-            "src/p_idp.cpp"
+            "src/p_serial_packet.cpp"
         ],
         "directory": "/storage/Shared/Projects/Penguinator/pi_serial_bus_manager",
-        "file": "src/p_idp.cpp"
+        "file": "src/p_serial_packet.cpp"
     },
     {
         "arguments": [
@@ -69,10 +69,10 @@
             "-Icfg",
             "-Iinc",
             "-o",
-            "build/p_serial_packet.o",
+            "build/p_idp.o",
-            "src/p_serial_packet.cpp"
+            "src/p_idp.cpp"
         ],
         "directory": "/storage/Shared/Projects/Penguinator/pi_serial_bus_manager",
-        "file": "src/p_serial_packet.cpp"
+        "file": "src/p_idp.cpp"
     }
 ]

inc/p_serial_bus.h

@@ -1,18 +1,22 @@
 #ifndef __P_SERIAL_BUS_H__
 #define __P_SERIAL_BUS_H__
 
+#include "p_serial_packet.h"
+#include <linux/serial.h>
+#include <termio.h>
 class ps_bus
 {
 public:
 	ps_bus(const char* dev);
 	~ps_bus();
 
-	void ps_bus_start();
+	bool send_pkt(const ps_packet* const pkt);
+	bool recv_pkt(ps_packet* const pkt);
 
 private:
+	struct serial_rs485 rs485conf;
 	int dev_fd;
+	struct termios toptions;
 };
 
-void p_sbus_start(void);
-
 #endif

src/main.cpp

@@ -19,38 +19,46 @@ void sigint_handler(int param)
 {
 	b_quit = true;
 	std::cout << "Exiting..." << std::endl;
+	return;
 }
 
 int main()
 {
 	signal(SIGINT, sigint_handler);
+
 	ps_bus sbus(SERIAL_DEV);
 	zmq::context_t ctx;
 	zmq::socket_t sub(ctx, ZMQ_SUB);
 	sub.connect(ZMQ_IPC_ADDR);
 	sub.setsockopt(ZMQ_SUBSCRIBE, "", 0);
 
-	zmq::message_t msg_recv;
-	zmq::message_t msg_send;
 	while (!b_quit)
 	{
+		zmq::message_t msg_recv;
 		int32_t x = 0;
 		int32_t y = 0;
+		try
+		{
 			if (sub.recv(&msg_recv, 0))
 			{
 				uint8_t xy[64];
 				memset(xy, 0, 64);
 				memcpy(xy, msg_recv.data(), msg_recv.size());
-			sscanf((const char*)xy, "X:%" PRId32 " Y:%" PRId32 "\n", &x, &y);
+				sscanf((const char*)xy, "X:%" PRId32 " Y:%" PRId32 "\n", &x,
+					   &y);
 				ps_packet xy_packet = ps_packet::from_xy(x, y);
 				xy_packet.encode();
-			xy_packet.show_packet();
+				// xy_packet.show_packet();
-
+				if (!sbus.send_pkt(&xy_packet))
-			for (size_t ind = 0; ind < xy_packet.msg_len; ind++)
 				{
-				printf("[%lu]: %02x ", ind, xy_packet.data[ind]);
+					printf("Some failure on transmission\n");
 				}
-			printf("\n");
+			}
+		}
+		catch (zmq::error_t& e)
+		{
+
+			std::cout << e.what() << std::endl;
 		}
 	}
 

src/p_serial_bus.cpp

@@ -2,8 +2,6 @@
 #include <cstring>
 #include <errno.h>
 #include <fcntl.h>
-#include <iostream>
-#include <linux/serial.h>
 #include <stdio.h>
 #include <unistd.h>
 
@@ -13,15 +11,16 @@
 ps_bus::ps_bus(const char* dev)
 {
 	/* Open your specific device (e.g., /dev/mydevice): */
-	int fd = open(dev, O_RDWR);
+	printf("%s\n", dev);
-	if (fd < 0)
+	dev_fd = open(dev, O_RDWR | O_NOCTTY);
+	if (dev_fd < 0)
 	{
 		/* Error handling. See errno. */
 		fprintf(stderr, "Creation of the bus failed... error: %s",
 				strerror(errno));
+		exit(1);
 	}
-
+	memset(&rs485conf, 0, sizeof(rs485conf));
-	struct serial_rs485 rs485conf;
 
 	/* Enable RS485 mode: */
 	rs485conf.flags |= SER_RS485_ENABLED;
@@ -29,10 +28,10 @@ ps_bus::ps_bus(const char* dev)
 	/* Set logical level for RTS pin equal to 1 when sending: */
 	rs485conf.flags |= SER_RS485_RTS_ON_SEND;
 	/* or, set logical level for RTS pin equal to 0 when sending: */
-	rs485conf.flags &= ~(SER_RS485_RTS_ON_SEND);
+	// rs485conf.flags &= ~(SER_RS485_RTS_ON_SEND);
 
 	/* Set logical level for RTS pin equal to 1 after sending: */
-	rs485conf.flags |= SER_RS485_RTS_AFTER_SEND;
+	// rs485conf.flags |= SER_RS485_RTS_AFTER_SEND;
 	/* or, set logical level for RTS pin equal to 0 after sending: */
 	rs485conf.flags &= ~(SER_RS485_RTS_AFTER_SEND);
 
@@ -40,15 +39,36 @@ ps_bus::ps_bus(const char* dev)
 	// rs485conf.delay_rts_before_send = ...;
 
 	// /* Set rts delay after send, if needed: */
-	// rs485conf.delay_rts_after_send = ...;
+	// rs485conf.delay_rts_after_send = 10;
 
 	/* Set this flag if you want to receive data even while sending data */
 	// rs485conf.flags |= SER_RS485_RX_DURING_TX;
 
-	if (ioctl(fd, TIOCSRS485, &rs485conf) < 0)
+	if (ioctl(dev_fd, TIOCSRS485, &rs485conf) < 0)
 	{
+		printf("ERROR\n");
 		/* Error handling. See errno. */
 	}
+	memset(&toptions, 0, sizeof(toptions));
+	tcgetattr(dev_fd, &toptions);
+	toptions.c_cflag &= ~(CSIZE | PARENB);
+	// enable receiver
+	toptions.c_cflag |= CREAD;
+	// 8 data bit
+	toptions.c_cflag |= CS8;
+
+	// Ignore framing errors and parity errors
+	toptions.c_lflag &= ~(ICANON);
+	toptions.c_lflag &= ~(ECHO);
+	toptions.c_lflag &= ~(ECHOE);
+	// disable signal chars
+	toptions.c_lflag &= ~(ISIG);
+	// set baud rate
+	cfsetspeed(&toptions, B115200);
+	// flush cache
+	tcflush(dev_fd, TCIFLUSH);
+	// apply
+	tcsetattr(dev_fd, TCSANOW, &toptions);
 }
 
 ps_bus::~ps_bus()
@@ -60,5 +80,17 @@ ps_bus::~ps_bus()
 	}
 }
 
-void ps_bus::ps_bus_start()
+bool ps_bus::send_pkt(const ps_packet* const pkt)
-{}
+{
+	bool ret = true;
+	if (write(dev_fd, pkt->data, pkt->msg_len) != pkt->msg_len)
+	{
+		ret = false;
+	}
+	return ret;
+}
+bool ps_bus::recv_pkt(ps_packet* const pkt)
+{
+	bool ret = true;
+	return ret;
+}