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Code Issues Releases Activity

LP-412 Allow access to rx & tx callbacks through pios_com device API.

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This commit is contained in:
Vladimir Zidar 2016-09-24 01:07:01 +02:00
parent a853d511c8
commit 87035d953c
2 changed files with 78 additions and 5 deletions
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77
flight/pios/common/pios_com.c
View File

@ -119,7 +119,7 @@ int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, ui
bool has_rx = (rx_buffer && rx_buffer_len > 0);
bool has_tx = (tx_buffer && tx_buffer_len > 0);
PIOS_Assert(has_rx || has_tx);
PIOS_Assert(driver->bind_tx_cb || !has_tx);
PIOS_Assert(driver->bind_rx_cb || !has_rx);
@ -153,12 +153,10 @@ int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, ui
fifoBuf_init(&com_dev->tx, tx_buffer, tx_buffer_len);
#if defined(PIOS_INCLUDE_FREERTOS)
vSemaphoreCreateBinary(com_dev->tx_sem);
com_dev->sendbuffer_sem = xSemaphoreCreateMutex();
#endif /* PIOS_INCLUDE_FREERTOS */
(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_TxOutCallback, (uint32_t)com_dev);
}
#if defined(PIOS_INCLUDE_FREERTOS)
com_dev->sendbuffer_sem = xSemaphoreCreateMutex();
#endif /* PIOS_INCLUDE_FREERTOS */
*com_id = (uint32_t)com_dev;
return 0;
@ -358,6 +356,74 @@ int32_t PIOS_COM_RegisterBaudRateCallback(uint32_t com_id, pios_com_callback_bau
return 0;
}
int32_t PIOS_COM_ASYNC_TxStart(uint32_t com_id, uint16_t tx_bytes_avail)
{
struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
return -1;
}
/* Invoke the driver function if it exists */
if (com_dev->driver->tx_start) {
com_dev->driver->tx_start(com_dev->lower_id, tx_bytes_avail);
}
return 0;
}
int32_t PIOS_COM_ASYNC_RxStart(uint32_t com_id, uint16_t rx_bytes_avail)
{
struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
return -1;
}
/* Invoke the driver function if it exists */
if (com_dev->driver->rx_start) {
com_dev->driver->rx_start(com_dev->lower_id, rx_bytes_avail);
}
return 0;
}
int32_t PIOS_COM_ASYNC_RegisterRxCallback(uint32_t com_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
return -1;
}
/* Invoke the driver function if it exists */
if (com_dev->driver->bind_rx_cb) {
com_dev->driver->bind_rx_cb(com_dev->lower_id, rx_in_cb, context);
}
return 0;
}
int32_t PIOS_COM_ASYNC_RegisterTxCallback(uint32_t com_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
return -1;
}
/* Invoke the driver function if it exists */
if (com_dev->driver->bind_tx_cb) {
com_dev->driver->bind_tx_cb(com_dev->lower_id, tx_out_cb, context);
}
return 0;
}
static int32_t PIOS_COM_SendBufferNonBlockingInternal(struct pios_com_dev *com_dev, const uint8_t *buffer, uint16_t len)
{
PIOS_Assert(com_dev);
@ -411,6 +477,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
/* Undefined COM port for this board (see pios_board.c) */
return -1;
}
PIOS_Assert(com_dev->has_tx);
#if defined(PIOS_INCLUDE_FREERTOS)
if (xSemaphoreTake(com_dev->sendbuffer_sem, 0) != pdTRUE) {
return -3;
@ -668,7 +735,7 @@ uint32_t PIOS_COM_Available(uint32_t com_id)
return COM_AVAILABLE_TX;
}
return COM_AVAILABLE_NONE; /* can this really happen? */
return COM_AVAILABLE_RXTX; /* This is the case for com_dev without buffers - for async use only */
}
return (com_dev->driver->available)(com_dev->lower_id);

6
flight/pios/inc/pios_com.h
View File

@ -73,6 +73,12 @@ extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format,
extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t *buf, uint16_t buf_len, uint32_t timeout_ms);
extern uint32_t PIOS_COM_Available(uint32_t com_id);
/* Event driven asynchronous API */
extern int32_t PIOS_COM_ASYNC_TxStart(uint32_t id, uint16_t tx_bytes_avail);
extern int32_t PIOS_COM_ASYNC_RxStart(uint32_t id, uint16_t rx_bytes_avail);
extern int32_t PIOS_COM_ASYNC_RegisterRxCallback(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
extern int32_t PIOS_COM_ASYNC_RegisterTxCallback(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
#define COM_AVAILABLE_NONE (0)
#define COM_AVAILABLE_RX (1 << 0)
#define COM_AVAILABLE_TX (1 << 1)