[arch/linux] uart: try to write again if interrupted

paparazzi · Sep 12, 2015 · de77449 · de77449
1 parent 2a974de
commit de77449
Show file tree

Hide file tree

Showing 3 changed files with 17 additions and 13 deletions.
diff --git a/sw/airborne/arch/linux/mcu_periph/uart_arch.c b/sw/airborne/arch/linux/mcu_periph/uart_arch.c
@@ -48,8 +48,8 @@ static void uart_receive_handler(struct uart_periph *periph);
 static void *uart_thread(void *data __attribute__((unused)));
 static pthread_mutex_t uart_mutex = PTHREAD_MUTEX_INITIALIZER;
 
-//#define TRACE(fmt,args...)    fprintf(stderr, fmt, args)
-#define TRACE(fmt,args...)
+#define TRACE(fmt,args...)    fprintf(stderr, fmt, args)
+//#define TRACE(fmt,args...)
 
 void uart_arch_init(void)
 {
@@ -245,7 +245,11 @@ void uart_put_byte(struct uart_periph *periph, uint8_t data)
 
   /* write single byte to serial port */
   struct SerialPort *port = (struct SerialPort *)(periph->reg_addr);
-  int ret = write((int)(port->fd), &data, 1);
+
+  int ret = 0;
+  do{
+    ret = write((int)(port->fd), &data, 1);
+  } while(ret < 1 && errno == EAGAIN); //FIXME: max retry
 
   if (ret < 1) {
     TRACE("uart_put_byte: write %d failed [%d: %s]\n", data, ret, strerror(errno));
@@ -273,7 +277,7 @@ static void uart_receive_handler(struct uart_periph *periph)
       periph->rx_insert_idx = temp;  // update insert index
     }
     else {
-      TRACE("uart_receive_handler: rx_buf full! discarding received byte: %x %c", c, c);
+      TRACE("uart_receive_handler: rx_buf full! discarding received byte: %x %c\n", c, c);
     }
   }
   pthread_mutex_unlock(&uart_mutex);
@@ -303,7 +307,7 @@ uint16_t uart_char_available(struct uart_periph *p)
 void uart0_init(void)
 {
   uart_periph_init(&uart0);
-  strncpy(uart0.dev, UART0_DEV, UART_DEV_NAME_SIZE);
+  strncpy(uart0.dev, STRINGIFY(UART0_DEV), UART_DEV_NAME_SIZE);
   uart_periph_set_baudrate(&uart0, UART0_BAUD);
 }
 #endif /* USE_UART0 */
@@ -312,7 +316,7 @@ void uart0_init(void)
 void uart1_init(void)
 {
   uart_periph_init(&uart1);
-  strncpy(uart1.dev, UART1_DEV, UART_DEV_NAME_SIZE);
+  strncpy(uart1.dev, STRINGIFY(UART1_DEV), UART_DEV_NAME_SIZE);
   uart_periph_set_baudrate(&uart1, UART1_BAUD);
 }
 #endif /* USE_UART1 */
@@ -321,7 +325,7 @@ void uart1_init(void)
 void uart2_init(void)
 {
   uart_periph_init(&uart2);
-  strncpy(uart2.dev, UART2_DEV, UART_DEV_NAME_SIZE);
+  strncpy(uart2.dev, STRINGIFY(UART2_DEV), UART_DEV_NAME_SIZE);
   uart_periph_set_baudrate(&uart2, UART2_BAUD);
 }
 #endif /* USE_UART2 */
@@ -330,7 +334,7 @@ void uart2_init(void)
 void uart3_init(void)
 {
   uart_periph_init(&uart3);
-  strncpy(uart3.dev, UART3_DEV, UART_DEV_NAME_SIZE);
+  strncpy(uart3.dev, STRINGIFY(UART3_DEV), UART_DEV_NAME_SIZE);
   uart_periph_set_baudrate(&uart3, UART3_BAUD);
 }
 #endif /* USE_UART3 */
@@ -339,7 +343,7 @@ void uart3_init(void)
 void uart4_init(void)
 {
   uart_periph_init(&uart4);
-  strncpy(uart4.dev, UART4_DEV, UART_DEV_NAME_SIZE);
+  strncpy(uart4.dev, STRINGIFY(UART4_DEV), UART_DEV_NAME_SIZE);
   uart_periph_set_baudrate(&uart4, UART4_BAUD);
 }
 #endif /* USE_UART4 */
@@ -348,7 +352,7 @@ void uart4_init(void)
 void uart5_init(void)
 {
   uart_periph_init(&uart5);
-  strncpy(uart5.dev, UART5_DEV, UART_DEV_NAME_SIZE);
+  strncpy(uart5.dev, STRINGIFY(UART5_DEV), UART_DEV_NAME_SIZE);
   uart_periph_set_baudrate(&uart5, UART5_BAUD);
 }
 #endif /* USE_UART5 */
@@ -357,7 +361,7 @@ void uart5_init(void)
 void uart6_init(void)
 {
   uart_periph_init(&uart6);
-  strncpy(uart6.dev, UART6_DEV, UART_DEV_NAME_SIZE);
+  strncpy(uart6.dev, STRINGIFY(UART6_DEV), UART_DEV_NAME_SIZE);
   uart_periph_set_baudrate(&uart6, UART6_BAUD);
 }
 #endif /* USE_UART6 */
diff --git a/sw/airborne/boards/ardrone2.h b/sw/airborne/boards/ardrone2.h
@@ -4,7 +4,7 @@
 #define BOARD_ARDRONE2
 
 #ifndef UART1_DEV
-#define UART1_DEV "/dev/ttyUSB0"
+#define UART1_DEV /dev/ttyUSB0
 #endif
 
 /* Default actuators driver */

diff --git a/sw/airborne/boards/bebop.h b/sw/airborne/boards/bebop.h
@@ -26,7 +26,7 @@
 #define BOARD_BEBOP
 
 /** uart connected to GPS internally */
-#define UART1_DEV "/dev/ttyPA1"
+#define UART1_DEV /dev/ttyPA1
 
 /* Default actuators driver */
 #define DEFAULT_ACTUATORS "boards/bebop/actuators.h"