1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324
use std::ffi::c_void;
use std::io;
use std::os::unix::ffi::OsStrExt;
use std::os::unix::io::RawFd;
use std::path::Path;
#[derive(Debug)]
enum PhyData<'a> {
Rx {
buffer: crate::phy::BufferHandle<'a>,
length: usize,
},
Tx {
buffer: crate::phy::BufferHandle<'a>,
length: usize,
cursor: usize,
},
}
impl PhyData<'_> {
pub fn is_rx(&self) -> bool {
match self {
PhyData::Rx { .. } => true,
_ => false,
}
}
pub fn is_tx(&self) -> bool {
match self {
PhyData::Tx { .. } => true,
_ => false,
}
}
pub fn make_rx(&mut self) {
if let PhyData::Tx { buffer, .. } = self {
let buffer = std::mem::replace(buffer, [].into());
*self = PhyData::Rx { buffer, length: 0 };
}
}
}
/// Linux userspace PHY implementation for serial TTY devices
///
/// Available with the `phy-linux` feature.
///
/// **Important**: Due to the non-realtime nature of Linux, you must use this PHY implementation
/// with care. You may need to decrease the baudrate or lengthen timeouts (T<sub>SLOT</sub>) to
/// get reliable communication. You should also consider running your pogram at "real-time
/// priority" if you need higher bus speeds. It is advisable to run tests with heavy system load
/// to ensure the bus communication stays reliable in all circumstances.
///
/// **Important 2**: If you plan to use this PHY with a USB-serial device, you have to choose your
/// bus parameters even more carefully. Stick to very low baudrates (<= 500kbit/s) and increase
/// T<sub>SL</sub> (slot time) to deal with communication delays. Tests have shown a slot time of
/// ~5ms to work reliably (at 500kbit/s, that would be 2500 T_bit). Additionally, it seems to be
/// important to give the OS time to deliver received data by sleeping long enough between `poll()`
/// calls. A minimum sleep of 2ms was needed in my tests to ensure all received data is delivered
/// in time.
///
/// # Example
/// ```no_run
/// use profirust::{Baudrate, fdl, dp, phy};
/// const BAUDRATE: Baudrate = Baudrate::B19200;
/// # let mut dp_master = dp::DpMaster::new(vec![]);
///
/// let mut fdl_master = fdl::FdlMaster::new(
/// fdl::ParametersBuilder::new(0x02, BAUDRATE)
/// // Increase T_slot (slot time)
/// .slot_bits(1920)
/// .build_verified(&dp_master)
/// );
///
/// let mut phy = phy::LinuxRs485Phy::new("/dev/ttyS0", fdl_master.parameters().baudrate);
/// ```
#[derive(Debug)]
pub struct LinuxRs485Phy<'a> {
fd: RawFd,
data: PhyData<'a>,
}
impl LinuxRs485Phy<'_> {
/// Construct and initialize a new PHY device
///
/// This function will attempt to configure the TTY device `serial_port` for PROFIBUS
/// communication (line settings via termios and RS-485 mode when available).
#[inline]
pub fn new<P: AsRef<Path>>(serial_port: P, baudrate: crate::Baudrate) -> Self {
Self::new_inner(&serial_port.as_ref(), baudrate)
}
fn new_inner(serial_port: &Path, baudrate: crate::Baudrate) -> Self {
// open serial port non-blocking
let path = std::ffi::CString::new(serial_port.as_os_str().as_bytes()).unwrap();
let fd = unsafe {
libc::open(
path.as_ptr() as *const i8,
libc::O_RDWR | libc::O_NONBLOCK | libc::O_NOCTTY,
)
};
if fd < 0 {
let error = io::Error::last_os_error();
Result::<(), _>::Err(error).unwrap();
}
let mut tty: libc::termios2 = unsafe { core::mem::zeroed() };
if unsafe { libc::ioctl(fd, libc::TCGETS2, &mut tty) } < 0 {
let error = io::Error::last_os_error();
Result::<(), _>::Err(error).unwrap();
}
tty.c_iflag &= !(libc::IGNBRK
| libc::BRKINT
| libc::PARMRK
| libc::ISTRIP
| libc::INLCR
| libc::IGNCR
| libc::ICRNL
| libc::IXON);
tty.c_oflag &= !(libc::OPOST | libc::ONLCR);
tty.c_lflag &= !(libc::ISIG
| libc::ICANON
| libc::IEXTEN
| libc::ECHO
| libc::ECHOE
| libc::ECHOK
| libc::ECHONL);
tty.c_cflag &= !(libc::CSIZE
| libc::PARODD
| libc::CSTOPB
| libc::CRTSCTS
| (libc::CBAUD | libc::CBAUDEX)
| ((libc::CBAUD | libc::CBAUDEX) << libc::IBSHIFT));
tty.c_cflag |= libc::CS8 | libc::PARENB | libc::BOTHER | (libc::BOTHER << libc::IBSHIFT);
// Ensure non-blocking access
tty.c_cc[libc::VMIN] = 0;
tty.c_cc[libc::VTIME] = 0;
// Set speed
let baud = baudrate.to_rate().try_into().unwrap();
tty.c_ispeed = baud;
tty.c_ospeed = baud;
log::debug!("Speed: {}", tty.c_ispeed);
if unsafe { libc::ioctl(fd, libc::TCSETS2, &tty) } < 0 {
let error = io::Error::last_os_error();
Result::<(), _>::Err(error).unwrap();
}
// Read back to ensure baudrates are correct.
if unsafe { libc::ioctl(fd, libc::TCGETS2, &mut tty) } < 0 {
let error = io::Error::last_os_error();
Result::<(), _>::Err(error).unwrap();
}
assert_eq!(
tty.c_ispeed, baud,
"c_ispeed not matching expected baudrate"
);
assert_eq!(
tty.c_ospeed, baud,
"c_ospeed not matching expected baudrate"
);
let res = rs485::SerialRs485::new()
.set_enabled(true)
.set_rts_on_send(true)
.set_rts_after_send(false)
.set_rx_during_tx(false)
.set_on_fd(fd);
if let Err(e) = res {
log::warn!("Could not configure RS485 mode: {}", e);
}
// TODO: Allow configuring this buffer?
let buffer = crate::phy::BufferHandle::from(vec![0u8; 512]);
Self {
fd,
data: PhyData::Rx { buffer, length: 0 },
}
}
/// Wait/block until the current transmission completes.
///
/// This is useful to save CPU time as the PROFIBUS stack can't do much anyway until the
/// transmission is over.
pub fn wait_transmit(&mut self) {
if self.data.is_tx() {
unsafe { libc::tcdrain(self.fd) };
}
}
fn write(fd: RawFd, buffer: &[u8]) -> io::Result<usize> {
match unsafe { libc::write(fd, buffer.as_ptr() as *const c_void, buffer.len()) } {
-1 => {
let err = io::Error::last_os_error();
if err.kind() == io::ErrorKind::WouldBlock {
Ok(0)
} else {
Err(err)
}
}
written => Ok(usize::try_from(written).unwrap()),
}
}
fn get_output_queue(&mut self) -> io::Result<usize> {
let mut arg: std::ffi::c_int = 0;
let res = unsafe { libc::ioctl(self.fd, libc::TIOCOUTQ, &mut arg) };
if res < 0 {
return Err(io::Error::last_os_error());
}
Ok(usize::try_from(arg).unwrap())
}
fn read(fd: RawFd, buffer: &mut [u8]) -> io::Result<usize> {
match unsafe { libc::read(fd, buffer.as_mut_ptr() as *mut c_void, buffer.len()) } {
-1 => {
let err = io::Error::last_os_error();
if err.kind() == io::ErrorKind::WouldBlock {
Ok(0)
} else {
Err(err)
}
}
written => Ok(usize::try_from(written).unwrap()),
}
}
}
impl<'a> crate::phy::ProfibusPhy for LinuxRs485Phy<'a> {
fn poll_transmission(&mut self, _now: crate::time::Instant) -> bool {
if let PhyData::Tx {
buffer,
length,
cursor,
} = &mut self.data
{
if length != cursor {
// Need to submit more data.
let written = Self::write(self.fd, &buffer[*cursor..*length]).unwrap();
debug_assert!(written <= *length - *cursor);
*cursor += written;
true
} else {
// Everything was submitted already.
let queued = self.get_output_queue().unwrap();
if queued == 0 {
// All data was sent.
self.data.make_rx();
false
} else {
// Still sending.
true
}
}
} else {
false
}
}
fn transmit_data<F, R>(&mut self, _now: crate::time::Instant, f: F) -> R
where
F: FnOnce(&mut [u8]) -> (usize, R),
{
match &mut self.data {
PhyData::Tx { .. } => panic!("transmit_data() while already transmitting!"),
PhyData::Rx {
buffer,
length: receive_length,
} => {
if *receive_length != 0 {
log::warn!(
"{} bytes in the receive buffer and we go into transmission?",
receive_length
);
}
let (length, res) = f(&mut buffer[..]);
if length == 0 {
// Don't transmit anything.
return res;
}
let cursor = Self::write(self.fd, &buffer[..length]).unwrap();
debug_assert!(cursor <= length);
let buffer = std::mem::replace(buffer, [].into());
self.data = PhyData::Tx {
buffer,
length,
cursor,
};
res
}
}
}
fn receive_data<F, R>(&mut self, _now: crate::time::Instant, f: F) -> R
where
F: FnOnce(&[u8]) -> (usize, R),
{
match &mut self.data {
PhyData::Tx { .. } => panic!("receive_data() while transmitting!"),
PhyData::Rx { buffer, length } => {
*length += Self::read(self.fd, &mut buffer[*length..]).unwrap();
debug_assert!(*length <= buffer.len());
let (drop, res) = f(&buffer[..*length]);
match drop {
0 => (),
d if d == *length => *length = 0,
d => {
assert!(d < *length);
for i in 0..(*length - d) {
buffer[i] = buffer[i + d];
}
*length -= d;
}
}
res
}
}
}
}