Added PIOS_COM Module. Still needs a bit of reworking.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@29 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Makefile

@@ -85,6 +85,7 @@ SRC += $(SYSDIR)/pios_settings.c
 SRC += $(SYSDIR)/pios_led.c
 SRC += $(SYSDIR)/pios_uart.c
 SRC += $(SYSDIR)/pios_irq.c
+SRC += $(SYSDIR)/pios_com.c
 
 ## CMSIS for STM32
 SRC += $(CMSISDIR)/core_cm3.c

flight/sys/pios.h

@@ -51,9 +51,7 @@
 #include "pios_led.h"
 #include "pios_uart.h"
 #include "pios_irq.h"
-
+#include "pios_com.h"
-//#include "pios_spi.h"
-//#include "pios_uart.h"
 
 /* More added here as they get written */
 

flight/sys/pios_board.h

@@ -120,8 +120,9 @@
 // USART Serial Ports
 //-------------------------
 #define UART_NUM			3
-#define UART_RX_BUFFER_SIZE		128
+#define UART_RX_BUFFER_SIZE		1024
-#define UART_TX_BUFFER_SIZE		128
+#define UART_TX_BUFFER_SIZE		256
+#define COM_DEBUG_PORT			TELEM
 
 //-------------------------
 // Receiver PWM inputs   

flight/sys/pios_com.c

@@ -0,0 +1,322 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_com.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      COM layer functions
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_COM COM layer functions
+ * @{
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+/* Project Includes */
+#include "pios.h"
+
+
+/* Private Function Prototypes */
+
+
+/* Local Variables */
+static int32_t (*receive_callback_func)(COMPortTypeDef port, char c);
+
+
+/**
+* Initializes COM layer
+* \param[in] mode currently only mode 0 supported
+* \return < 0 if initialisation failed
+*/
+int32_t COMInit(void)
+{
+	int32_t ret = 0;
+
+	/* Disable callback by default */
+	receive_callback_func = NULL;
+
+	/* If any COM assignment: */
+	UARTInit();
+
+	return -ret;
+}
+
+
+/**
+* This function checks the availability of a COM port
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \return 1: port available
+* \return 0: port not available
+* \note Deprecated since our hardware is a constant
+*/
+int32_t COMCheckAvailable(COMPortTypeDef port)
+{
+	/* Deprecated since our hardware is a constant */
+}
+
+
+/**
+* Sends a package over given port
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] buffer character buffer
+* \param[in] len buffer length
+* \return -1 if port not available
+* \return -2 if non-blocking mode activated: buffer is full
+*            caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t COMSendBufferNonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len)
+{
+	/* Branch depending on selected port */
+	switch(port) {
+		case 0:
+			return UARTTxBufferPutMoreNonBlocking(COM_DEBUG_PORT, buffer, len);
+		case 1:
+			return UARTTxBufferPutMoreNonBlocking(GPS, buffer, len);
+		case 2:
+			return UARTTxBufferPutMoreNonBlocking(TELEM, buffer, len);
+		case 3:
+			return UARTTxBufferPutMoreNonBlocking(AUX, buffer, len);
+		default:
+			/* Invalid port */
+			return -1;
+	}
+}
+
+
+
+/**
+* Sends a package over given port
+* (blocking function)
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] buffer character buffer
+* \param[in] len buffer length
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t COMSendBuffer(COMPortTypeDef port, uint8_t *buffer, uint16_t len)
+{
+	/* Branch depending on selected port */
+	switch(port) {
+		case 0:
+			return UARTTxBufferPutMore(COM_DEBUG_PORT, buffer, len);
+		case 1:
+			return UARTTxBufferPutMore(GPS, buffer, len);
+		case 2:
+			return UARTTxBufferPutMore(TELEM, buffer, len);
+		case 3:
+			return UARTTxBufferPutMore(AUX, buffer, len);
+		default:
+			/* Invalid port */
+			return -1;
+	}
+}
+
+
+/**
+* Sends a single character over given port
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] c character
+* \return -1 if port not available
+* \return -2 buffer is full
+*            caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t COMSendCharNonBlocking(COMPortTypeDef port, char c)
+{
+	return COMSendBufferNonBlocking(port, (uint8_t *)&c, 1);
+}
+
+
+/**
+* Sends a single character over given port
+* (blocking function)
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] c character
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t COMSendChar(COMPortTypeDef port, char c)
+{
+	return COMSendBuffer(port, (uint8_t *)&c, 1);
+}
+
+
+/**
+* Sends a string over given port
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] str zero-terminated string
+* \return -1 if port not available
+* \return -2 buffer is full
+*         caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t COMSendString_NonBlocking(COMPortTypeDef port, char *str)
+{
+	return COMSendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str));
+}
+
+
+/**
+* Sends a string over given port
+* (blocking function)
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] str zero-terminated string
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t MIOS32_COM_SendString(COMPortTypeDef port, char *str)
+{
+	/* return COMSendBuffer(port, (uint8_t *)str, strlen(str)); */
+}
+
+
+/**
+* Sends a formatted string (-> printf) over given port
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] *format zero-terminated format string - 128 characters supported maximum!
+* \param[in] ... optional arguments,
+*        128 characters supported maximum!
+* \return -2 if non-blocking mode activated: buffer is full
+*         caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t MIOS32_COM_SendFormattedStringNonBlocking(COMPortTypeDef port, char *format, ...)
+{
+	uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
+	/*
+	va_list args;
+
+	va_start(args, format);
+	vsprintf((char *)buffer, format, args);
+	return COMSendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer));
+	*/
+}
+
+
+/**
+* Sends a formatted string (-> printf) over given port
+* (blocking function)
+* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
+* \param[in] *format zero-terminated format string - 128 characters supported maximum!
+* \param[in] ... optional arguments,
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t MIOS32_COM_SendFormattedString(COMPortTypeDef port, char *format, ...)
+{
+	uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
+	/*
+	va_list args;
+
+	va_start(args, format);
+	vsprintf((char *)buffer, format, args);
+	return COMSendBuffer(port, buffer, (uint16_t)strlen((char *)buffer));
+	*/
+}
+
+
+
+/**
+* Checks for incoming COM messages, calls the callback function which has
+* been installed via COMReceiveCallbackInit()
+* 
+* Not for use in an application - this function is called by
+* by a task in the programming model!
+* 
+* \return < 0 on errors
+*/
+int32_t COMReceiveHandler(void)
+{
+	uint8_t port;
+
+	/* Interface to be checked */
+	uint8_t intf = 0;
+	
+	/* Number of forwards - stop after 10 forwards to yield some CPU time for other tasks */
+	uint8_t total_bytes_forwarded = 0;
+	
+	uint8_t bytes_forwarded = 0;
+	uint8_t again = 1;
+	
+	do {
+		// Round Robin
+		// TODO: maybe a list based approach would be better
+		// it would allow to add/remove interfaces dynamically
+		// this would also allow to give certain ports a higher priority (to add them multiple times to the list)
+		// it would also improve this spagetthi code ;)
+		int32_t status = -1;
+		switch( intf++ ) {
+			case 0: status = UARTRxBufferGet(COM_DEBUG_PORT); port = COM_DEBUG_UART; break;
+			case 1: status = UARTRxBufferGet(GPS); port = COM_GPS_UART; break;
+			case 2: status = UARTRxBufferGet(TELEM); port = COM_TELEM_UART; break;
+			case 3: status = UARTRxBufferGet(AUX); port = COM_AUX_UART; break;
+			default:
+				// allow 64 forwards maximum to yield some CPU time for other tasks
+				if(bytes_forwarded && total_bytes_forwarded < 64) {
+					intf = 0; // restart with USB
+					bytes_forwarded = 0; // for checking, if bytes still have been forwarded in next round
+				} else {
+					again = 0; // no more interfaces to be processed
+				}
+				status = -1; // empty round - no message
+		}
+		
+		/* Message received? */
+		if(status >= 0) {
+		/* Notify that a package has been forwarded */
+		++bytes_forwarded;
+		++total_bytes_forwarded;
+		
+		/* Call function */
+		if(receive_callback_func != NULL)
+			receive_callback_func(port, (uint8_t)status);
+		}
+	} while(again);
+
+	return 0;
+}
+
+
+/**
+* Installs the callback function which is executed on incoming characters
+* from a COM interface.
+*
+* Example:
+* \code
+* int32_t CONSOLE_Parse(COMPortTypeDef port, char c)
+* {
+* 	// Do Parsing here
+*
+* 	return 0; // no error
+* }
+* \endcode
+*
+* The callback function has been installed in an Init() function with:
+* \code
+*   COMReceiveCallbackInit(CONSOLE_Parse);
+* \endcode
+* \param[in] callback_debug_command the callback function (NULL disables the callback)
+* \return < 0 on errors
+*/
+int32_t COMReceiveCallbackInit(void *callback_receive)
+{
+	receive_callback_func = callback_receive;
+
+	/* No error */
+	return 0;
+}

flight/sys/pios_com.h

@@ -0,0 +1,54 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_com.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      COM layer functions header
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_COM_H
+#define PIOS_COM_H
+
+/* GLobal Types */
+typedef enum {
+	COM_DEBUG_UART = 0,
+	COM_GPS_UART = 1,
+	COM_TELEM_UART = 2,
+	COM_AUX_UART = 3
+} COMPortTypeDef;
+
+/* Public Functions */
+extern int32_t COMInit(void);
+
+extern int32_t COMCheckAvailable(COMPortTypeDef port);
+
+extern int32_t COMSendChar_NonBlocking(COMPortTypeDef port, char c);
+extern int32_t COMSendChar(COMPortTypeDef port, char c);
+extern int32_t COMSendBuffer_NonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
+extern int32_t COMSendBuffer(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
+extern int32_t COMSendStringNonBlocking(COMPortTypeDef port, char *str);
+extern int32_t COMSendString(COMPortTypeDef port, char *str);
+extern int32_t COMSendFormattedStringNonBlocking(COMPortTypeDef port, char *format, ...);
+extern int32_t COMSendFormattedString(COMPortTypeDef port, char *format, ...);
+
+extern int32_t COMReceiveHandler(void);
+extern int32_t COMReceiveCallback_Init(void *callback_receive);
+
+#endif /* PIOS_COM_H */

flight/sys/pios_irq.h

@@ -27,14 +27,6 @@
 #define PIOS_IRQ_H
 
 /* Public Functions */
-extern void UARTInit(void);
-extern void EnableAuxUART(void);
-extern void DisableAuxUART(void);
-extern void UARTChangeBaud(USART_TypeDef* USARTx, uint32_t Baud);
-
-/*----------------------------------------------------------------------------------*/
-/* WORK IN PROGRESS BELOW */
-/*----------------------------------------------------------------------------------*/
 extern int IRQDisable(void);
 extern int IRQEnable(void);
 

flight/sys/pios_uart.c

@@ -34,15 +34,15 @@
 
 
 /* Local Variables */
-static u8 rx_buffer[UART_NUM][UART_RX_BUFFER_SIZE];
+static uint8_t rx_buffer[UART_NUM][UART_RX_BUFFER_SIZE];
-static volatile u8 rx_buffer_tail[UART_NUM];
+static volatile uint8_t rx_buffer_tail[UART_NUM];
-static volatile u8 rx_buffer_head[UART_NUM];
+static volatile uint8_t rx_buffer_head[UART_NUM];
-static volatile u8 rx_buffer_size[UART_NUM];
+static volatile uint8_t rx_buffer_size[UART_NUM];
 
-static u8 tx_buffer[UART_NUM][UART_TX_BUFFER_SIZE];
+static uint8_t tx_buffer[UART_NUM][UART_TX_BUFFER_SIZE];
-static volatile u8 tx_buffer_tail[UART_NUM];
+static volatile uint8_t tx_buffer_tail[UART_NUM];
-static volatile u8 tx_buffer_head[UART_NUM];
+static volatile uint8_t tx_buffer_head[UART_NUM];
-static volatile u8 tx_buffer_size[UART_NUM];
+static volatile uint8_t tx_buffer_size[UART_NUM];
 
 
 /**
@@ -192,11 +192,6 @@ void UARTChangeBaud(USART_TypeDef* USARTx, uint32_t Baud)
 	USARTx->BRR = (uint16_t)TmpReg;
 }
 
-
-/*----------------------------------------------------------------------------------*/
-/* WORK IN PROGRESS BELOW */
-/*----------------------------------------------------------------------------------*/
-
 /**
 * Returns number of free bytes in receive buffer
 * \param[in] uart UART name (GPS, TELEM, AUX)
@@ -218,7 +213,7 @@ int UARTRxBufferFree(UARTNumTypeDef uart)
 * \param[in] uart UART name (GPS, TELEM, AUX)
 * \return > 0: number of used bytes
 * \return 0 if uart not available
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTRxBufferUsed(UARTNumTypeDef uart)
 {
@@ -235,7 +230,7 @@ int UARTRxBufferUsed(UARTNumTypeDef uart)
 * \return -1 if UART not available
 * \return -2 if no new byte available
 * \return >= 0: number of received bytes
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTRxBufferGet(UARTNumTypeDef uart)
 {
@@ -267,7 +262,7 @@ int UARTRxBufferGet(UARTNumTypeDef uart)
 * \return -1 if UART not available
 * \return -2 if no new byte available
 * \return >= 0: number of received bytes
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTRxBufferPeek(UARTNumTypeDef uart)
 {
@@ -297,7 +292,7 @@ int UARTRxBufferPeek(UARTNumTypeDef uart)
 * \return 0 if no error
 * \return -1 if UART not available
 * \return -2 if buffer full (retry)
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTRxBufferPut(UARTNumTypeDef uart, uint8_t b)
 {
@@ -331,7 +326,7 @@ int UARTRxBufferPut(UARTNumTypeDef uart, uint8_t b)
 * \param[in] uart UART name (GPS, TELEM, AUX)
 * \return number of free bytes
 * \return 0 if uart not available
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTTxBufferFree(UARTNumTypeDef uart)
 {
@@ -347,7 +342,7 @@ int UARTTxBufferFree(UARTNumTypeDef uart)
 * \param[in] uart UART name (GPS, TELEM, AUX)
 * \return number of used bytes
 * \return 0 if uart not available
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTTxBufferUsed(UARTNumTypeDef uart)
 {
@@ -364,7 +359,7 @@ int UARTTxBufferUsed(UARTNumTypeDef uart)
 * \return -1 if UART not available
 * \return -2 if no new byte available
 * \return >= 0: transmitted byte
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTTxBufferGet(UARTNumTypeDef uart)
 {
@@ -400,9 +395,9 @@ int UARTTxBufferGet(UARTNumTypeDef uart)
 * \return -1 if UART not available
 * \return -2 if buffer full or cannot get all requested bytes (retry)
 * \return -3 if UART not supported by MIOS32_UART_TxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
-int UARTTxBufferPutMore_NonBlocking(UARTNumTypeDef uart, uint8_t *buffer, uint16_t len)
+int UARTTxBufferPutMoreNonBlocking(UARTNumTypeDef uart, uint8_t *buffer, uint16_t len)
 {
 	if(uart >= UART_NUM) {
 		/* UART not available */
@@ -456,13 +451,13 @@ int UARTTxBufferPutMore_NonBlocking(UARTNumTypeDef uart, uint8_t *buffer, uint16
 * \return 0 if no error
 * \return -1 if UART not available
 * \return -3 if UART not supported by MIOS32_UART_TxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTTxBufferPutMore(UARTNumTypeDef uart, uint8_t *buffer, uint16_t len)
 {
 	int error;
 
-	while((error = UARTTxBufferPutMore_NonBlocking(uart, buffer, len)) == -2);
+	while((error = UARTTxBufferPutMoreNonBlocking(uart, buffer, len)) == -2);
 
 	return error;
 }
@@ -475,7 +470,7 @@ int UARTTxBufferPutMore(UARTNumTypeDef uart, uint8_t *buffer, uint16_t len)
 * \return -1 if UART not available
 * \return -2 if buffer full (retry)
 * \return -3 if UART not supported by MIOS32_UART_TxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTTxBufferPut_NonBlocking(UARTNumTypeDef uart, uint8_t b)
 {
@@ -492,7 +487,7 @@ int UARTTxBufferPut_NonBlocking(UARTNumTypeDef uart, uint8_t b)
 * \return 0 if no error
 * \return -1 if UART not available
 * \return -3 if UART not supported by MIOS32_UART_TxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref MIOS32_COM or \ref MIOS32_MIDI layer functions
+* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
 */
 int UARTTxBufferPut(UARTNumTypeDef uart, uint8_t b)
 {

flight/sys/pios_uart.h

@@ -26,17 +26,17 @@
 #ifndef PIOS_UART_H
 #define PIOS_UART_H
 
+
+/* Global Types */
+typedef enum {GPS = 0, TELEM = 1, AUX = 2} UARTNumTypeDef;
+
+
 /* Public Functions */
 extern void UARTInit(void);
 extern void EnableAuxUART(void);
 extern void DisableAuxUART(void);
 extern void UARTChangeBaud(USART_TypeDef* USARTx, uint32_t Baud);
 
-/*----------------------------------------------------------------------------------*/
-/* WORK IN PROGRESS BELOW */
-/*----------------------------------------------------------------------------------*/
-typedef enum {GPS = 0, TELEM = 1, AUX = 2} UARTNumTypeDef;
-
 extern int UARTRxBufferFree(UARTNumTypeDef uart);
 extern int UARTRxBufferUsed(UARTNumTypeDef uart);
 extern int UARTRxBufferGet(UARTNumTypeDef uart);
@@ -45,9 +45,9 @@ extern int UARTRxBufferPut(UARTNumTypeDef uart, uint8_t b);
 
 extern int UARTTxBufferFree(UARTNumTypeDef uart);
 extern int UARTTxBufferGet(UARTNumTypeDef uart);
-extern int UARTTxBufferPutMore_NonBlocking(UARTNumTypeDef uart, uint8_t *buffer, uint16_t len);
+extern int UARTTxBufferPutMoreNonBlocking(UARTNumTypeDef uart, uint8_t *buffer, uint16_t len);
 extern int UARTTxBufferPutMore(UARTNumTypeDef uart, uint8_t *buffer, uint16_t len);
-extern int UARTTxBufferPut_NonBlocking(uint8_t uart, uint8_t b);
+extern int UARTTxBufferPutNonBlocking(uint8_t uart, uint8_t b);
 extern int UARTTxBufferPut(UARTNumTypeDef uart, uint8_t b);
 
 #endif /* PIOS_UART_H */