264 lines
8.0 KiB
C
264 lines
8.0 KiB
C
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/**
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********************************************************************
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* @file hal_uart.c
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* @brief
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include <dji_logger.h>
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#include "hal_uart.h"
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/* Private constants ---------------------------------------------------------*/
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#define UART_DEV_NAME_STR_SIZE (128)
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#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
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#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
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/* Private types -------------------------------------------------------------*/
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typedef struct {
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int uartFd;
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} T_UartHandleStruct;
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/* Private values -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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/* Exported functions definition ---------------------------------------------*/
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T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
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{
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T_UartHandleStruct *uartHandleStruct;
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struct termios options;
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struct flock lock;
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T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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char uartName[UART_DEV_NAME_STR_SIZE];
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char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
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char *ret = NULL;
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char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
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FILE *fp;
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uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
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if (uartHandleStruct == NULL)
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{
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return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
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}
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if (uartNum == DJI_HAL_UART_NUM_0)
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{
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strcpy(uartName, LINUX_UART_DEV1);
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} else if (uartNum == DJI_HAL_UART_NUM_1)
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{
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strcpy(uartName, LINUX_UART_DEV2);
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} else {
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goto free_uart_handle;
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}
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#ifdef USE_CLION_DEBUG
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sprintf(systemCmd, "ls -l %s", uartName);
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fp = popen(systemCmd, "r");
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if (fp == NULL) {
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goto free_uart_handle;
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}
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ret = fgets(lineBuf, sizeof(lineBuf), fp);
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if (ret == NULL) {
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goto close_fp;
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}
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if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
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USER_LOG_ERROR("Can't operation the device. "
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"Probably the device has not operation permission. "
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"Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
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goto close_fp;
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}
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#else
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sprintf(systemCmd, "chmod 777 %s", uartName);
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fp = popen(systemCmd, "r");
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if (fp == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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#endif
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uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
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if (uartHandleStruct->uartFd == -1) {
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goto close_fp;
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}
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// Forbid multiple psdk programs to access the serial port
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lock.l_type = F_WRLCK;
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lock.l_pid = getpid();
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lock.l_whence = SEEK_SET;
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lock.l_start = 0;
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lock.l_len = 0;
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if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
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goto close_uart_fd;
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}
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if (lock.l_type != F_UNLCK) {
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goto close_uart_fd;
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}
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lock.l_type = F_WRLCK;
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lock.l_pid = getpid();
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lock.l_whence = SEEK_SET;
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lock.l_start = 0;
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lock.l_len = 0;
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if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
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goto close_uart_fd;
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}
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if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
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goto close_uart_fd;
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}
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switch (baudRate) {
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case 115200:
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cfsetispeed(&options, B115200);
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cfsetospeed(&options, B115200);
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break;
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case 230400:
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cfsetispeed(&options, B230400);
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cfsetospeed(&options, B230400);
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break;
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case 460800:
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cfsetispeed(&options, B460800);
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cfsetospeed(&options, B460800);
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break;
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case 921600:
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cfsetispeed(&options, B921600);
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cfsetospeed(&options, B921600);
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break;
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case 1000000:
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cfsetispeed(&options, B1000000);
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cfsetospeed(&options, B1000000);
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break;
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default:
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goto close_uart_fd;
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}
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options.c_cflag |= (unsigned) CLOCAL;
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options.c_cflag |= (unsigned) CREAD;
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options.c_cflag &= ~(unsigned) CRTSCTS;
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options.c_cflag &= ~(unsigned) CSIZE;
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options.c_cflag |= (unsigned) CS8;
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options.c_cflag &= ~(unsigned) PARENB;
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options.c_iflag &= ~(unsigned) INPCK;
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options.c_cflag &= ~(unsigned) CSTOPB;
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options.c_oflag &= ~(unsigned) OPOST;
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options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
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options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
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options.c_cc[VTIME] = 0;
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options.c_cc[VMIN] = 0;
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tcflush(uartHandleStruct->uartFd, TCIFLUSH);
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if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
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goto close_uart_fd;
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}
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*uartHandle = uartHandleStruct;
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pclose(fp);
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return returnCode;
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close_uart_fd:
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close(uartHandleStruct->uartFd);
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close_fp:
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pclose(fp);
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free_uart_handle:
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free(uartHandleStruct);
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
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{
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int32_t ret;
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T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
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if (uartHandle == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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ret = close(uartHandleStruct->uartFd);
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if (ret < 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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free(uartHandleStruct);
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
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{
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int32_t ret;
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T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
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if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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ret = write(uartHandleStruct->uartFd, buf, len);
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if (ret >= 0) {
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*realLen = ret;
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
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{
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int32_t ret;
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T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
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if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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ret = read(uartHandleStruct->uartFd, buf, len);
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if (ret >= 0) {
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*realLen = ret;
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
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{
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if (uartNum == DJI_HAL_UART_NUM_0) {
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status->isConnect = true;
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} else if (uartNum == DJI_HAL_UART_NUM_1) {
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status->isConnect = true;
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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/* Private functions definition-----------------------------------------------*/
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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