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7536c6b6fa570f12b90a2f889b2aed86e0bb74d1
bacnet_stack/ports/bsd/rs485.c
T
Patrick Grimm 2f6132b13e Fix mstp on bsd port (#1193) 
* fix mstp on macos NS_PER_S is 1s and 0ns

* fix compile on freebsd

* port bsd: add compile warnings and comments

* port bsd: limit pthred prio to OS defined min/max value
e.g. FreeBSD min=0 max=31

* port bsd: fix clangformat
2025-12-24 18:50:29 -06:00

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/**
* @file port/bsd/rs485.c
* @brief Provides BSD/Darwin(macOS) specific functions for RS-485 serial
* operation. Customize this file for your specific hardware
* @author Steve Karg <skarg@users.sourceforge.net>
* @author Nikola Jelic <nikola.jelic@euroicc.com>
* @date 2007, 2011
*
* @copyright SPDX-License-Identifier: MIT
*/
#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
/* BSD includes */
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/utsname.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <sched.h>
#include <math.h> /* for calculation of custom divisor */
#include <sys/ioctl.h>
/* for scandir */
#include <dirent.h>
/* for basename */
#include <libgen.h>
/* Local includes */
#include "bacnet/datalink/mstp.h"
#include "rs485.h"
#include "bacnet/basic/sys/fifo.h"
#include "bacnet/basic/sys/debug.h"
#include <sys/select.h>
#include <sys/time.h>
#include "dlmstp_port.h"
#if defined(__APPLE__) || defined(__darwin__)
#include <IOKit/serial/ioss.h>
#else
#include <sys/serial.h>
#endif
/* Posix serial programming reference:
https://www.msweet.org/serial/serial.html
*/
/* Use ionice wrapper to improve serial performance:
$ sudo ionice -c 1 -n 0 ./bin/bacserv 12345
*/
/* handle returned from open() */
static int RS485_Handle = -1;
/* baudrate settings are defined in <asm/termbits.h>,
which is included by <termios.h>
Instead of being an int enum which would be bad/brittle enough,
they are #defines where the string label resolves to low consecutive
ordinals depending on the platform
e.g. on ESP, which doesn't appear to have native 76800 support:
#define B38400 15
#define B115200 17
vs. Apple/Darwin's /usr/include/sys/termios.h:
#define B76800 76800
#define B115200 115200
Anyways, a brittle, platform dependent way to have people thinking the
underlying int might be the actual baud rate in bps.
*/
static unsigned int RS485_Baud = B115200;
/* On macOS/Darwin the serial ports will be named something like */
/* /dev/cu.usbserial-xxxx */
static char *RS485_Port_Name = "/dev/cu.usbserial-7";
/* some terminal I/O have RS-485 specific functionality */
#ifndef RS485MOD
#define RS485MOD 0
#endif
/* serial I/O settings */
/* Hold the original termios attributes so they can be restored during cleanup
*/
static struct termios RS485_oldtio;
/* indicator of special baud rate */
static bool RS485_SpecBaud = false;
/* Ring buffer for incoming bytes, in order to speed up the receiving. */
static FIFO_BUFFER Rx_FIFO;
/* buffer size needs to be a power of 2 */
static uint8_t Rx_Buffer[4096];
/**
openSerialPort and closeSerialPort are adapted from Apple's own developer
examples. Specifically, SerialPortSample found at:
https://developer.apple.com/library/archive/samplecode/SerialPortSample/Introduction/Intro.html
These in turn expect the Apple specific header IOKit/serial/ioss.h to be
present They are well-commented and replace the meat of RS485_Initialize and
RS485_Cleanup.
**/
static int openSerialPort(const char *bsdPath);
static void closeSerialPort(int fileDescriptor);
#define _POSIX_SOURCE 1 /* POSIX compliant source */
/*********************************************************************
* DESCRIPTION: Configures the interface name
* RETURN: none
* ALGORITHM: none
* NOTES: none
*********************************************************************/
void RS485_Set_Interface(char *ifname)
{
/* note: expects a constant char, or char from the heap */
if (ifname && ifname != NULL) {
printf("### RS485_Set_Interface %s\n", ifname);
RS485_Port_Name = ifname;
}
}
/*********************************************************************
* DESCRIPTION: Returns the interface name
* RETURN: none
* ALGORITHM: none
* NOTES: none
*********************************************************************/
const char *RS485_Interface(void)
{
return RS485_Port_Name;
}
/****************************************************************************
* DESCRIPTION: Returns the baud rate that we are currently running at
* RETURN: none
* ALGORITHM: none
* NOTES: none
*****************************************************************************/
uint32_t RS485_Get_Baud_Rate(void)
{
uint32_t baud = 0;
switch (RS485_Baud) {
case B0:
baud = 0;
break;
case B50:
baud = 50;
break;
case B75:
baud = 75;
break;
case B110:
baud = 110;
break;
case B134:
baud = 134;
break;
case B150:
baud = 150;
break;
case B200:
baud = 200;
break;
case B300:
baud = 300;
break;
case B600:
baud = 600;
break;
case B1200:
baud = 1200;
break;
case B1800:
baud = 1800;
break;
case B2400:
baud = 2400;
break;
case B4800:
baud = 4800;
break;
case B9600:
baud = 9600;
break;
case B19200:
baud = 19200;
break;
case B38400:
if (!RS485_SpecBaud) {
/* Platform may ask for custom divisor
only when baud is set on 38400 */
baud = 38400;
} else {
baud = 76800;
}
break;
case B57600:
baud = 57600;
break;
#ifdef B76800
case B76800:
baud = 76800;
break;
#endif
case B115200:
baud = 115200;
break;
case B230400:
baud = 230400;
break;
default:
baud = 9600;
}
return baud;
}
/****************************************************************************
* DESCRIPTION: Returns the baud rate that we are currently running at
* RETURN: none
* ALGORITHM: none
* NOTES: none
*****************************************************************************/
uint32_t RS485_Get_Port_Baud_Rate(struct mstp_port_struct_t *mstp_port)
{
uint32_t baud = 0;
SHARED_MSTP_DATA *poSharedData = (SHARED_MSTP_DATA *)mstp_port->UserData;
if (!poSharedData) {
return 0;
}
switch (poSharedData->RS485_Baud) {
case B0:
baud = 0;
break;
case B50:
baud = 50;
break;
case B75:
baud = 75;
break;
case B110:
baud = 110;
break;
case B134:
baud = 134;
break;
case B150:
baud = 150;
break;
case B200:
baud = 200;
break;
case B300:
baud = 300;
break;
case B600:
baud = 600;
break;
case B1200:
baud = 1200;
break;
case B1800:
baud = 1800;
break;
case B2400:
baud = 2400;
break;
case B4800:
baud = 4800;
break;
case B9600:
baud = 9600;
break;
case B19200:
baud = 19200;
break;
case B38400:
baud = 38400;
break;
case B57600:
baud = 57600;
break;
case B115200:
baud = 115200;
break;
case B230400:
baud = 230400;
break;
default:
baud = 9600;
break;
}
return baud;
}
/****************************************************************************
* DESCRIPTION: Sets the baud rate for the chip USART
* RETURN: none
* ALGORITHM: none
* NOTES: none
*****************************************************************************/
bool RS485_Set_Baud_Rate(uint32_t baud)
{
bool valid = true;
RS485_SpecBaud = false;
switch (baud) {
case 0:
RS485_Baud = B0;
break;
case 50:
RS485_Baud = B50;
break;
case 75:
RS485_Baud = B75;
break;
case 110:
RS485_Baud = B110;
break;
case 134:
RS485_Baud = B134;
break;
case 150:
RS485_Baud = B150;
break;
case 200:
RS485_Baud = B200;
break;
case 300:
RS485_Baud = B300;
break;
case 600:
RS485_Baud = B600;
break;
case 1200:
RS485_Baud = B1200;
break;
case 1800:
RS485_Baud = B1800;
break;
case 2400:
RS485_Baud = B2400;
break;
case 4800:
RS485_Baud = B4800;
break;
case 9600:
RS485_Baud = B9600;
break;
case 19200:
RS485_Baud = B19200;
break;
case 38400:
RS485_Baud = B38400;
break;
case 57600:
RS485_Baud = B57600;
break;
case 76800:
#ifdef B76800
RS485_Baud = B76800;
#else
RS485_Baud = B38400;
RS485_SpecBaud = true;
#endif
break;
case 115200:
RS485_Baud = B115200;
break;
case 230400:
RS485_Baud = B230400;
break;
default:
valid = false;
break;
}
if (valid) {
/* FIXME: store the baud rate */
}
return valid;
}
/****************************************************************************
* DESCRIPTION: Transmit a frame on the wire
* RETURN: none
* ALGORITHM: none
* NOTES: none
*****************************************************************************/
void RS485_Send_Frame(
struct mstp_port_struct_t *mstp_port, /* port specific data */
const uint8_t *buffer, /* frame to send (up to 501 bytes of data) */
uint16_t nbytes /* number of bytes of data (up to 501) */)
{
uint32_t turnaround_time_usec = Tturnaround * 1000000UL;
uint32_t baud = RS485_Baud;
int handle = RS485_Handle;
ssize_t written = 0;
int greska;
const SHARED_MSTP_DATA *poSharedData = NULL;
if (mstp_port && mstp_port->UserData) {
poSharedData = (SHARED_MSTP_DATA *)mstp_port->UserData;
baud = poSharedData->RS485_Baud;
handle = poSharedData->RS485_Handle;
}
/* sleeping for turnaround time is necessary to give other devices
time to change from sending to receiving state. */
usleep(turnaround_time_usec / baud);
/*
On success, the number of bytes written are returned (zero
indicates nothing was written). On error, -1 is returned, and
errno is set appropriately. If count is zero and the file
descriptor refers to a regular file, 0 will be returned without
causing any other effect. For a special file, the results are not
portable.
*/
written = write(handle, buffer, nbytes);
greska = errno;
if (written <= 0) {
printf("write error: %s\n", strerror(greska));
} else {
/* wait until all output has been transmitted. */
tcdrain(handle);
}
/* tcdrain(RS485_Handle); */
/* per MSTP spec, sort of */
if (mstp_port) {
mstp_port->SilenceTimerReset((void *)mstp_port);
}
}
/****************************************************************************
* DESCRIPTION: Get a byte of receive data
* RETURN: none
* ALGORITHM: none
* NOTES: none
*****************************************************************************/
void RS485_Check_UART_Data(struct mstp_port_struct_t *mstp_port)
{
fd_set input;
struct timeval waiter;
uint8_t buf[2048];
ssize_t n;
int handle = RS485_Handle;
SHARED_MSTP_DATA *poSharedData;
FIFO_BUFFER *fifo = &Rx_FIFO;
waiter.tv_sec = 0;
waiter.tv_usec = 5000;
poSharedData = (SHARED_MSTP_DATA *)mstp_port->UserData;
if (poSharedData) {
handle = poSharedData->RS485_Handle;
fifo = &poSharedData->Rx_FIFO;
}
if (mstp_port->ReceiveError == true) {
/* do nothing but wait for state machine to clear the error */
} else if (mstp_port->DataAvailable == false) {
/* wait for state machine to read from the DataRegister */
if (FIFO_Count(fifo) > 0) {
/* data is available */
mstp_port->DataRegister = FIFO_Get(fifo);
mstp_port->DataAvailable = true;
/* FIFO is giving data - just poll */
waiter.tv_sec = 0;
waiter.tv_usec = 0;
}
}
/* grab bytes and stuff them into the FIFO every time */
FD_ZERO(&input);
FD_SET(handle, &input);
n = select(handle + 1, &input, NULL, NULL, &waiter);
if (n < 0) {
return;
}
if (FD_ISSET(handle, &input)) {
n = read(handle, buf, sizeof(buf));
if (n > 0) {
FIFO_Add(fifo, &buf[0], n);
}
}
}
void RS485_Cleanup(void)
{
closeSerialPort(RS485_Handle);
}
void RS485_Initialize(void)
{
RS485_Handle = openSerialPort(RS485_Port_Name);
/* ringbuffer */
FIFO_Init(&Rx_FIFO, Rx_Buffer, sizeof(Rx_Buffer));
}
/* Print in a format for Wireshark ExtCap */
void RS485_Print_Ports(void)
{
int n;
struct dirent **namelist;
const char *sysdir = "/sys/class/tty/";
struct stat st;
char buffer[1024];
char device_dir[1024];
char *driver_name = NULL;
int fd = 0;
bool valid_port = false;
struct utsname unameData;
bool macOS = false;
if (uname(&unameData) < 0) {
perror("uname");
exit(EXIT_FAILURE);
}
if (strcmp(unameData.sysname, "Darwin") == 0) {
macOS = true;
sysdir = "/dev/";
}
/* Scan through /sys/class/tty -
it contains all tty-devices in the system */
n = scandir(sysdir, &namelist, NULL, NULL);
if (n < 0) {
perror("RS485: scandir");
} else {
while (n--) {
if (strcmp(namelist[n]->d_name, "..") &&
strcmp(namelist[n]->d_name, ".")) {
if (macOS) {
if (strncmp(namelist[n]->d_name, "cu.", 3) == 0) {
printf("%s%s\n", sysdir, namelist[n]->d_name);
valid_port = true;
if (valid_port) {
/* print full absolute file path */
printf(
"interface {value=/dev/%s}"
"{display=MS/TP Capture on /dev/%s}\n",
namelist[n]->d_name, namelist[n]->d_name);
}
}
} else {
snprintf(
device_dir, sizeof(device_dir), "%s%s/device", sysdir,
namelist[n]->d_name);
/* Stat the devicedir and handle it if it is a symlink */
if (lstat(device_dir, &st) == 0 && S_ISLNK(st.st_mode)) {
memset(buffer, 0, sizeof(buffer));
snprintf(
device_dir, sizeof(device_dir),
"%s%s/device/driver", sysdir, namelist[n]->d_name);
if (readlink(device_dir, buffer, sizeof(buffer)) > 0) {
valid_port = false;
driver_name = basename(buffer);
if (strcmp(driver_name, "serial8250") == 0) {
/* serial8250-devices must be probed */
snprintf(
device_dir, sizeof(device_dir), "/dev/%s",
namelist[n]->d_name);
fd = open(
device_dir, O_RDWR | O_NONBLOCK | O_NOCTTY);
if (fd >= 0) {
// Failed
close(fd);
}
} else {
valid_port = true;
}
if (valid_port) {
/* print full absolute file path */
printf(
"interface {value=/dev/%s}"
"{display=MS/TP Capture on /dev/%s}\n",
namelist[n]->d_name, namelist[n]->d_name);
}
}
}
}
free(namelist[n]);
}
}
free(namelist);
}
}
/* Given the path to a serial device, open the device and configure it.*/
/* Return the file descriptor associated with the device.*/
static int openSerialPort(const char *const bsdPath)
{
int fileDescriptor = -1;
int handshake;
struct termios options;
#if defined(__APPLE__) || defined(__darwin__)
/* The IOSSIOSPEED ioctl can be used to set arbitrary baud rates other than
* those specified by POSIX. The driver for the underlying serial hardware
* ultimately determines which baud rates can be used. This ioctl sets both
* the input and output speed. */
speed_t speed = RS485_Get_Baud_Rate();
/* Set the receive latency in microseconds. Serial drivers use this value to
determine how often to dequeue characters received by the hardware. Most
applications don't need to set this value: if an app reads lines of
characters, the app can't do anything until the line termination
character has been received anyway. The most common applications which
are sensitive to read latency are MIDI and IrDA applications. */
unsigned long mics = 1UL;
#endif
/* Open the serial port read/write, with no controlling terminal, and don't
wait for a connection. The O_NONBLOCK flag also causes subsequent I/O on
the device to be non-blocking. See open(2) <x-man-page://2/open> for
details.*/
fileDescriptor = open(bsdPath, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (fileDescriptor == -1) {
printf(
"Error opening serial port %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
goto error;
}
/* Note that open() follows POSIX semantics: multiple open() calls to the
same file will succeed unless the TIOCEXCL ioctl is issued. This will
prevent additional opens except by root-owned processes. See tty(4)
<x-man-page//4/tty> and ioctl(2) <x-man-page//2/ioctl> for details.*/
if (ioctl(fileDescriptor, TIOCEXCL) == -1) {
printf(
"Error setting TIOCEXCL on %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
goto error;
}
/* Now that the device is open, clear the O_NONBLOCK flag so subsequent I/O
will block. See fcntl(2) <x-man-page//2/fcntl> for details.*/
if (fcntl(fileDescriptor, F_SETFL, 0) == -1) {
printf(
"Error clearing O_NONBLOCK %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
goto error;
}
/* Get the current options and save them so we can restore the default
* settings later.*/
if (tcgetattr(fileDescriptor, &RS485_oldtio) == -1) {
printf(
"Error getting tty attributes %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
goto error;
}
/* The serial port attributes such as timeouts and baud rate are set by
modifying the termios structure and then calling tcsetattr() to cause the
changes to take effect. Note that the changes will not become effective
without the tcsetattr() call. See tcsetattr(4) <x-man-page://4/tcsetattr>
for details.*/
options = RS485_oldtio;
/* Print the current input and output baud rates.
See tcsetattr(4) <x-man-page://4/tcsetattr> for details.*/
printf(
"Default/current input baud rate is %d\n", (int)cfgetispeed(&options));
printf(
"Default/current output baud rate is %d\n", (int)cfgetospeed(&options));
/* Set raw input (non-canonical) mode, with reads blocking until either a
single character has been received or a one second timeout expires. See
tcsetattr(4) <x-man-page://4/tcsetattr> and termios(4)
<x-man-page://4/termios> for details. */
cfmakeraw(&options);
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 10;
/* The baud rate, word length, & handshake options can be set as follows: */
cfsetspeed(&options, RS485_Baud);
options.c_cflag &= ~PARENB; /* No Parity */
options.c_cflag &= ~CSTOPB; /* 1 Stop Bit */
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8; /* Use 8 bit words */
#if defined(__APPLE__) || defined(__darwin__)
/* The IOSSIOSPEED ioctl can be used to set arbitrary baud rates other than
* those specified by POSIX. The driver for the underlying serial hardware
* ultimately determines which baud rates can be used. This ioctl sets both
* the input and output speed. */
if (ioctl(fileDescriptor, IOSSIOSPEED, &speed) == -1) {
printf(
"Error calling ioctl(..., IOSSIOSPEED, ...) %s - %s(%d).\n",
bsdPath, strerror(errno), errno);
}
#endif
/* Print the new input and output baud rates. Note that the IOSSIOSPEED
ioctl interacts with the serial driver directly, bypassing the termios
struct. This means that the following two calls will not be able to read
the current baud rate if the IOSSIOSPEED ioctl was used but will instead
return the speed set by the last call to cfsetspeed. */
printf("Input baud rate changed to %d\n", (int)cfgetispeed(&options));
printf("Output baud rate changed to %d\n", (int)cfgetospeed(&options));
/* Cause the new options to take effect immediately.*/
if (tcsetattr(fileDescriptor, TCSANOW, &options) == -1) {
printf(
"Error setting tty attributes %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
goto error;
}
/* To set the modem handshake lines, use the following ioctls.
See tty(4) <x-man-page//4/tty> and ioctl(2) <x-man-page//2/ioctl> for
details.*/
/* Assert Data Terminal Ready (DTR) */
if (ioctl(fileDescriptor, TIOCSDTR) == -1) {
printf(
"Error asserting DTR %s - %s(%d).\n", bsdPath, strerror(errno),
errno);
}
/* Clear Data Terminal Ready (DTR) */
if (ioctl(fileDescriptor, TIOCCDTR) == -1) {
printf(
"Error clearing DTR %s - %s(%d).\n", bsdPath, strerror(errno),
errno);
}
/* Set the modem lines depending on the bits set in handshake */
handshake = TIOCM_DTR | TIOCM_RTS | TIOCM_CTS | TIOCM_DSR;
if (ioctl(fileDescriptor, TIOCMSET, &handshake) == -1) {
printf(
"Error setting handshake lines %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
}
/* To read the state of the modem lines, use the following ioctl.
See tty(4) <x-man-page//4/tty> and ioctl(2) <x-man-page//2/ioctl> for
details. */
/* Store the state of the modem lines in handshake */
if (ioctl(fileDescriptor, TIOCMGET, &handshake) == -1) {
printf(
"Error getting handshake lines %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
}
printf("Handshake lines currently set to %d\n", handshake);
#if defined(__APPLE__) || defined(__darwin__)
/* Set the receive latency in microseconds. Serial drivers use this value to
determine how often to dequeue characters received by the hardware. Most
applications don't need to set this value: if an app reads lines of
characters, the app can't do anything until the line termination
character has been received anyway. The most common applications which
are sensitive to read latency are MIDI and IrDA applications. */
if (ioctl(fileDescriptor, IOSSDATALAT, &mics) == -1) {
/* set latency to 1 microsecond */
printf(
"Error setting read latency %s - %s(%d).\n", bsdPath,
strerror(errno), errno);
goto error;
}
#endif
/* Success */
return fileDescriptor;
/* Failure path */
error:
if (fileDescriptor != -1) {
close(fileDescriptor);
}
return -1;
}
/* Given the file descriptor for a serial device, close that device. */
static void closeSerialPort(int fileDescriptor)
{
/* Block until all written output has been sent from the device.
Note that this call is simply passed on to the serial device driver. See
tcsendbreak(3) <x-man-page://3/tcsendbreak> for details. */
if (tcdrain(fileDescriptor) == -1) {
printf("Error waiting for drain - %s(%d).\n", strerror(errno), errno);
}
/* Traditionally it is good practice to reset a serial port back to
the state in which you found it. This is why the original termios struct
was saved. */
if (tcsetattr(fileDescriptor, TCSANOW, &RS485_oldtio) == -1) {
printf(
"Error resetting tty attributes - %s(%d).\n", strerror(errno),
errno);
}
close(fileDescriptor);
}
#ifdef TEST_RS485
#include <string.h>
int main(int argc, char *argv[])
{
struct mstp_port_struct_t mstp_port = { 0 };
uint8_t token_buf[8] = { 0x55, 0xFF, 0x00, 0x7E, 0x07, 0x00, 0x00, 0xFD };
uint8_t pfm_buf[8] = { 0x55, 0xFF, 0x01, 0x67, 0x07, 0x00, 0x00, 0x3E };
long baud = 38400;
bool write_token = false;
bool write_pfm = false;
/* argv has the "/dev/ttyS0" or some other device */
if (argc > 1) {
RS485_Set_Interface(argv[1]);
}
if (argc > 2) {
baud = strtol(argv[2], NULL, 0);
}
if (argc > 3) {
if (strcmp("token", argv[3]) == 0) {
write_token = true;
}
if (strcmp("pfm", argv[3]) == 0) {
write_pfm = true;
}
}
RS485_Set_Baud_Rate(baud);
RS485_Initialize();
for (;;) {
if (write_token) {
RS485_Send_Frame(NULL, token_buf, sizeof(token_buf));
usleep(25000);
} else if (write_pfm) {
RS485_Send_Frame(NULL, pfm_buf, sizeof(pfm_buf));
usleep(100000);
} else {
RS485_Check_UART_Data(&mstp_port);
if (mstp_port.DataAvailable) {
fprintf(stderr, "%02X ", mstp_port.DataRegister);
mstp_port.DataAvailable = false;
}
}
}
return 0;
}
#endif
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