New platform independent Serial interface (#21723)

boards/modalai/fc-v2/default.px4board

@@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/modalai/voxl2-slpi/default.px4board

@@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y

platforms/common/CMakeLists.txt

@@ -52,6 +52,7 @@ add_library(px4_platform STATIC
 	shutdown.cpp
 	spi.cpp
 	pab_manifest.c
+	Serial.cpp
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)

platforms/common/Serial.cpp

@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/Serial.hpp>
+
+namespace device
+{
+
+Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+	       FlowControl flowcontrol) :
+	_impl(port, baudrate, bytesize, parity, stopbits, flowcontrol)
+{
+	// If no baudrate was specified then set it to a reasonable default value
+	if (baudrate == 0) {
+		(void) _impl.setBaudrate(9600);
+	}
+}
+
+Serial::~Serial()
+{
+}
+
+bool Serial::open()
+{
+	return _impl.open();
+}
+
+bool Serial::isOpen() const
+{
+	return _impl.isOpen();
+}
+
+bool Serial::close()
+{
+	return _impl.close();
+}
+
+ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
+{
+	return _impl.read(buffer, buffer_size);
+}
+
+ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
+{
+	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
+}
+
+ssize_t Serial::write(const void *buffer, size_t buffer_size)
+{
+	return _impl.write(buffer, buffer_size);
+}
+
+uint32_t Serial::getBaudrate() const
+{
+	return _impl.getBaudrate();
+}
+
+bool Serial::setBaudrate(uint32_t baudrate)
+{
+	return _impl.setBaudrate(baudrate);
+}
+
+ByteSize Serial::getBytesize() const
+{
+	return _impl.getBytesize();
+}
+
+bool Serial::setBytesize(ByteSize bytesize)
+{
+	return _impl.setBytesize(bytesize);
+}
+
+Parity Serial::getParity() const
+{
+	return _impl.getParity();
+}
+
+bool Serial::setParity(Parity parity)
+{
+	return _impl.setParity(parity);
+}
+
+StopBits Serial::getStopbits() const
+{
+	return _impl.getStopbits();
+}
+
+bool Serial::setStopbits(StopBits stopbits)
+{
+	return _impl.setStopbits(stopbits);
+}
+
+FlowControl Serial::getFlowcontrol() const
+{
+	return _impl.getFlowcontrol();
+}
+
+bool Serial::setFlowcontrol(FlowControl flowcontrol)
+{
+	return _impl.setFlowcontrol(flowcontrol);
+}
+
+const char *Serial::getPort() const
+{
+	return _impl.getPort();
+}
+
+} // namespace device

platforms/common/include/px4_platform_common/Serial.hpp

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <SerialImpl.hpp>
+
+#include <px4_platform_common/SerialCommon.hpp>
+
+using device::SerialConfig::ByteSize;
+using device::SerialConfig::Parity;
+using device::SerialConfig::StopBits;
+using device::SerialConfig::FlowControl;
+
+namespace device __EXPORT
+{
+
+class Serial
+{
+public:
+	Serial(const char *port, uint32_t baudrate = 57600,
+	       ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
+	       StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
+	virtual ~Serial();
+
+	// Open sets up the port and gets it configured based on desired configuration
+	bool open();
+	bool isOpen() const;
+
+	bool close();
+
+	ssize_t read(uint8_t *buffer, size_t buffer_size);
+	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
+
+	ssize_t write(const void *buffer, size_t buffer_size);
+
+	// If port is already open then the following configuration functions
+	// will reconfigure the port. If the port is not yet open then they will
+	// simply store the configuration in preparation for the port to be opened.
+
+	uint32_t getBaudrate() const;
+	bool setBaudrate(uint32_t baudrate);
+
+	ByteSize getBytesize() const;
+	bool setBytesize(ByteSize bytesize);
+
+	Parity getParity() const;
+	bool setParity(Parity parity);
+
+	StopBits getStopbits() const;
+	bool setStopbits(StopBits stopbits);
+
+	FlowControl getFlowcontrol() const;
+	bool setFlowcontrol(FlowControl flowcontrol);
+
+	const char *getPort() const;
+
+private:
+	// Disable copy constructors
+	Serial(const Serial &);
+	Serial &operator=(const Serial &);
+
+	// platform implementation
+	SerialImpl _impl;
+};
+
+} // namespace device

platforms/common/include/px4_platform_common/SerialCommon.hpp

@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+namespace device
+{
+namespace SerialConfig
+{
+
+
+// ByteSize: number of data bits
+enum class ByteSize {
+	FiveBits  = 5,
+	SixBits   = 6,
+	SevenBits = 7,
+	EightBits = 8,
+};
+
+// Parity: enable parity checking
+enum class Parity {
+	None = 0,
+	Odd  = 1,
+	Even = 2,
+};
+
+// StopBits: number of stop bits
+enum class StopBits {
+	One = 1,
+	Two = 2
+};
+
+// FlowControl: enable flow control
+enum class FlowControl {
+	Disabled = 0,
+	Enabled  = 1,
+};
+
+} // namespace SerialConfig
+} // namespace device

platforms/common/include/px4_platform_common/time.h

@@ -13,11 +13,21 @@ __END_DECLS
 #define px4_clock_gettime system_clock_gettime
 #endif
 
-#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
 
 __BEGIN_DECLS
 __EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+__END_DECLS
+
+#else
+
+#define px4_clock_settime system_clock_settime
 
+#endif
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+
+__BEGIN_DECLS
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -27,7 +37,6 @@ __END_DECLS
 
 #else
 
-#define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
 #define px4_pthread_cond_timedwait system_pthread_cond_timedwait