Harmonize device config with other branches

4ntn · 4ntn · commit cf29aa18c2ea · 2025-03-17T11:35:52.000+01:00
Revert "boards: move board specific configurations (#63)" This reverts commit 7e07006. Signed-off-by: Antón Casas <antoncasas@eprosima.com>
diff --git a/boards/disco_l475_iot1.conf b/boards/disco_l475_iot1.conf
diff --git a/boards/disco_l475_iot1.overlay b/boards/disco_l475_iot1.overlay
diff --git a/modules/libmicroros/microros_transports/serial-usb/microros_transports.c b/modules/libmicroros/microros_transports/serial-usb/microros_transports.c
@@ -33,7 +33,7 @@ char uart_out_buffer[RING_BUF_SIZE];
 
 struct ring_buf out_ringbuf, in_ringbuf;
 
-static void uart_fifo_callback(const struct device *dev, void *user_data){ 
+static void uart_fifo_callback(const struct device *dev, void * user_data){
     while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
         if (uart_irq_rx_ready(dev)) {
             int recv_len;
@@ -64,15 +64,14 @@ static void uart_fifo_callback(const struct device *dev, void *user_data){
 }
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
     int ret;
     uint32_t baudrate, dtr = 0U;
-    const struct device *uart_dev;
 
-    /* for serial-usb transport we just override the device pointer
-     * with USB to use the same interface
-     */
-    transport->args = (void *)device_get_binding("CDC_ACM_0");
-    if (!transport->args) {
+
+    params->uart_dev = device_get_binding("CDC_ACM_0");
+    if (!params->uart_dev) {
         printk("CDC ACM device not found\n");
         return false;
     }
@@ -83,15 +82,13 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
         return false;
     }
 
-    uart_dev = (const struct device *)transport->args;
     ring_buf_init(&out_ringbuf, sizeof(uart_out_buffer), uart_out_buffer);
     ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);
 
     printk("Waiting for agent connection\n");
 
     while (true) {
-
-        uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_DTR, &dtr);
+        uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_DTR, &dtr);
         if (dtr) {
             break;
         } else {
@@ -103,46 +100,47 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
     printk("Serial port connected!\n");
 
     /* They are optional, we use them to test the interrupt endpoint */
-    ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DCD, 1);
+    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DCD, 1);
     if (ret) {
         printk("Failed to set DCD, ret code %d\n", ret);
     }
 
-    ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DSR, 1);
+    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DSR, 1);
     if (ret) {
         printk("Failed to set DSR, ret code %d\n", ret);
     }
 
     /* Wait 1 sec for the host to do all settings */
     k_busy_wait(1000*1000);
 
-    ret = uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
+    ret = uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
     if (ret) {
         printk("Failed to get baudrate, ret code %d\n", ret);
     }
 
-    uart_irq_callback_set(uart_dev, uart_fifo_callback);
+    uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
 
     /* Enable rx interrupts */
-    uart_irq_rx_enable(uart_dev);
+    uart_irq_rx_enable(params->uart_dev);
 
     return true;
 }
 
 bool zephyr_transport_close(struct uxrCustomTransport * transport){
-    (void)transport;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    (void) params;
 
     return true;
 }
 
 size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
-    const struct device * uart_dev = (const struct device *) transport->args;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
     size_t wrote;
 
     wrote = ring_buf_put(&out_ringbuf, buf, len);
-    
-    uart_irq_tx_enable(uart_dev);
+
+    uart_irq_tx_enable(params->uart_dev);
 
     while (!ring_buf_is_empty(&out_ringbuf)){
         k_sleep(K_MSEC(5));
@@ -152,7 +150,7 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
 }
 
 size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
-    const struct device * uart_dev = (const struct device *) transport->args;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
     size_t read = 0;
     int spent_time = 0;
@@ -162,9 +160,9 @@ size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
         spent_time++;
     }
 
-    uart_irq_rx_disable(uart_dev);
+    uart_irq_rx_disable(params->uart_dev);
     read = ring_buf_get(&in_ringbuf, buf, len);
-    uart_irq_rx_enable(uart_dev);
+    uart_irq_rx_enable(params->uart_dev);
 
     return read;
 }
diff --git a/modules/libmicroros/microros_transports/serial-usb/microros_transports.h b/modules/libmicroros/microros_transports/serial-usb/microros_transports.h
@@ -29,7 +29,13 @@ extern "C"
 {
 #endif
 
+typedef struct {
+    size_t fd;
+    const struct device *uart_dev;
+} zephyr_transport_params_t;
+
 #define MICRO_ROS_FRAMING_REQUIRED true
+static zephyr_transport_params_t default_params;
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport);
 bool zephyr_transport_close(struct uxrCustomTransport * transport);
diff --git a/modules/libmicroros/microros_transports/serial/microros_transports.c b/modules/libmicroros/microros_transports/serial/microros_transports.c
@@ -50,13 +50,20 @@ static void uart_fifo_callback(const struct device * dev, void * args){
 }
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
-    const struct device * uart_dev = (const struct device *) transport->args;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    params->uart_dev = DEVICE_DT_GET(UART_NODE);
+    if (!params->uart_dev) {
+        printk("Serial device not found\n");
+        return false;
+    }
+
     ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);
 
-    uart_irq_callback_set(uart_dev, uart_fifo_callback);
+    uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
 
     /* Enable rx interrupts */
-    uart_irq_rx_enable(uart_dev);
+    uart_irq_rx_enable(params->uart_dev);
 
     return true;
 }
@@ -68,18 +75,18 @@ bool zephyr_transport_close(struct uxrCustomTransport * transport){
 }
 
 size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
-    const struct device * uart_dev = (const struct device *) transport->args;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
     for (size_t i = 0; i < len; i++)
     {
-        uart_poll_out(uart_dev, buf[i]);
+        uart_poll_out(params->uart_dev, buf[i]);
     }
 
     return len;
 }
 
 size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
-    const struct device * uart_dev = (const struct device *) transport->args;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
     size_t read = 0;
     int spent_time = 0;
@@ -89,9 +96,9 @@ size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
         spent_time++;
     }
 
-    uart_irq_rx_disable(uart_dev);
+    uart_irq_rx_disable(params->uart_dev);
     read = ring_buf_get(&in_ringbuf, buf, len);
-    uart_irq_rx_enable(uart_dev);
+    uart_irq_rx_enable(params->uart_dev);
 
     return read;
 }
diff --git a/modules/libmicroros/microros_transports/serial/microros_transports.h b/modules/libmicroros/microros_transports/serial/microros_transports.h
@@ -29,7 +29,13 @@ extern "C"
 {
 #endif
 
+typedef struct {
+    size_t fd;
+    const struct device * uart_dev;
+} zephyr_transport_params_t;
+
 #define MICRO_ROS_FRAMING_REQUIRED true
+volatile static zephyr_transport_params_t default_params = {.fd = 1};
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport);
 bool zephyr_transport_close(struct uxrCustomTransport * transport);
diff --git a/src/main.c b/src/main.c
@@ -43,7 +43,7 @@ int main(void)
 {
 	rmw_uros_set_custom_transport(
 		MICRO_ROS_FRAMING_REQUIRED,
-		(void *) DEVICE_DT_GET(DT_ALIAS(uros_serial_port)),
+		(void *) &default_params,
 		zephyr_transport_open,
 		zephyr_transport_close,
 		zephyr_transport_write,

Original file line number	Diff line number	Diff line change
`@@ -43,7 +43,7 @@ int main(void)`
`43`	`43`	`{`
`44`	`44`	`rmw_uros_set_custom_transport(`
`45`	`45`	`MICRO_ROS_FRAMING_REQUIRED,`
`46`		`- (void *) DEVICE_DT_GET(DT_ALIAS(uros_serial_port)),`
	`46`	`+ (void *) &default_params,`
`47`	`47`	`zephyr_transport_open,`
`48`	`48`	`zephyr_transport_close,`
`49`	`49`	`zephyr_transport_write,`