/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_COM COM layer functions * @brief Hardware communication layer * @{ * * @file pios_com.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * Parts by Thorsten Klose (tk@midibox.org) * @brief COM layer functions * @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 */ /* Project Includes */ #include "pios.h" #if defined(PIOS_INCLUDE_COM) #include <pios_com_priv.h> static struct pios_com_dev * find_com_dev_by_id (uint8_t port) { if (port >= pios_com_num_devices) { /* Undefined COM port for this board (see pios_board.c) */ return NULL; } /* Get a handle for the device configuration */ return &(pios_com_devs[port]); } /** * Initialises COM layer * \param[in] mode currently only mode 0 supported * \return < 0 if initialisation failed */ int32_t PIOS_COM_Init(void) { int32_t ret = 0; /* If any COM assignment: */ #if defined(PIOS_INCLUDE_USART) PIOS_USART_Init(); #endif #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #endif return ret; } /** * Change the port speed without re-initializing * \param[in] port COM port * \param[in] baud Requested baud rate * \return -1 if port not available * \return 0 on success */ int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud) { struct pios_com_dev * com_dev; com_dev = find_com_dev_by_id (port); if (!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->set_baud) { com_dev->driver->set_baud(com_dev->id, baud); } return 0; } /** * Sends a package over given port * \param[in] port COM port * \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 PIOS_COM_SendBufferNonBlocking(uint8_t port, const uint8_t *buffer, uint16_t len) { struct pios_com_dev * com_dev; com_dev = find_com_dev_by_id (port); if (!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_nb) { return com_dev->driver->tx_nb(com_dev->id, buffer, len); } return 0; } /** * Sends a package over given port * (blocking function) * \param[in] port COM port * \param[in] buffer character buffer * \param[in] len buffer length * \return -1 if port not available * \return 0 on success */ int32_t PIOS_COM_SendBuffer(uint8_t port, const uint8_t *buffer, uint16_t len) { struct pios_com_dev * com_dev; com_dev = find_com_dev_by_id (port); if (!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) { return com_dev->driver->tx(com_dev->id, buffer, len); } return 0; } /** * Sends a single character over given port * \param[in] port COM port * \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 PIOS_COM_SendCharNonBlocking(uint8_t port, char c) { return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)&c, 1); } /** * Sends a single character over given port * (blocking function) * \param[in] port COM port * \param[in] c character * \return -1 if port not available * \return 0 on success */ int32_t PIOS_COM_SendChar(uint8_t port, char c) { return PIOS_COM_SendBuffer(port, (uint8_t *)&c, 1); } /** * Sends a string over given port * \param[in] port COM port * \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 PIOS_COM_SendStringNonBlocking(uint8_t port, const char *str) { return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str)); } /** * Sends a string over given port * (blocking function) * \param[in] port COM port * \param[in] str zero-terminated string * \return -1 if port not available * \return 0 on success */ int32_t PIOS_COM_SendString(uint8_t port, const char *str) { return PIOS_COM_SendBuffer(port, (uint8_t *)str, strlen(str)); } /** * Sends a formatted string (-> printf) over given port * \param[in] port COM port * \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 PIOS_COM_SendFormattedStringNonBlocking(uint8_t port, const 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 PIOS_COM_SendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer)); } /** * Sends a formatted string (-> printf) over given port * (blocking function) * \param[in] port COM port * \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 PIOS_COM_SendFormattedString(uint8_t port, const 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 PIOS_COM_SendBuffer(port, buffer, (uint16_t)strlen((char *)buffer)); } /** * Transfer bytes from port buffers into another buffer * \param[in] port COM port * \returns Byte from buffer */ uint8_t PIOS_COM_ReceiveBuffer(uint8_t port) { struct pios_com_dev * com_dev; com_dev = find_com_dev_by_id (port); PIOS_DEBUG_Assert(com_dev); PIOS_DEBUG_Assert(com_dev->driver->rx); return com_dev->driver->rx(com_dev->id); } /** * Get the number of bytes waiting in the buffer * \param[in] port COM port * \return Number of bytes used in buffer */ int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port) { struct pios_com_dev * com_dev; com_dev = find_com_dev_by_id (port); if (!com_dev) { /* Undefined COM port for this board (see pios_board.c) */ return 0; } if (!com_dev->driver->rx_avail) { return 0; } return com_dev->driver->rx_avail(com_dev->id); } #endif /** * @} * @} */