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157 lines
6.8 KiB
C
157 lines
6.8 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_COM COM layer functions
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* @brief Hardware communication layer
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* @{
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*
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* @file pios_com.h
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* @author The LibrePilot Project, http://www.librepilot.org, Copyright (c) 2017.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* Parts by Thorsten Klose (tk@midibox.org)
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* @brief COM layer functions header
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_COM_H
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#define PIOS_COM_H
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#include <stdint.h> /* uint*_t */
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#include <stdbool.h> /* bool */
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typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t *buf, uint16_t buf_len, uint16_t *headroom, bool *task_woken);
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typedef void (*pios_com_callback_ctrl_line)(uint32_t context, uint32_t mask, uint32_t state);
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typedef void (*pios_com_callback_baud_rate)(uint32_t context, uint32_t baud);
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typedef void (*pios_com_callback_available)(uint32_t context, uint32_t available);
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enum PIOS_COM_Word_Length {
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PIOS_COM_Word_length_Unchanged = 0,
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PIOS_COM_Word_length_8b,
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PIOS_COM_Word_length_9b,
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};
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enum PIOS_COM_StopBits {
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PIOS_COM_StopBits_Unchanged = 0,
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PIOS_COM_StopBits_0_5,
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PIOS_COM_StopBits_1,
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PIOS_COM_StopBits_1_5,
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PIOS_COM_StopBits_2,
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};
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enum PIOS_COM_Parity {
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PIOS_COM_Parity_Unchanged = 0,
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PIOS_COM_Parity_No,
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PIOS_COM_Parity_Even,
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PIOS_COM_Parity_Odd,
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};
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enum PIOS_COM_Mode {
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PIOS_COM_Mode_Unchanged = 0,
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PIOS_COM_Mode_Rx = (1 << 0),
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PIOS_COM_Mode_Tx = (1 << 1),
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PIOS_COM_Mode_RxTx = (PIOS_COM_Mode_Rx | PIOS_COM_Mode_Tx),
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};
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struct pios_com_driver {
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void (*set_baud)(uint32_t id, uint32_t baud);
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void (*set_config)(uint32_t usart_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_Parity parity, enum PIOS_COM_StopBits stop_bits, uint32_t baud_rate);
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void (*set_ctrl_line)(uint32_t id, uint32_t mask, uint32_t state);
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void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
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void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
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void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
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void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
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void (*bind_ctrl_line_cb)(uint32_t id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
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void (*bind_baud_rate_cb)(uint32_t id, pios_com_callback_baud_rate baud_rate_cb, uint32_t context);
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uint32_t (*available)(uint32_t id);
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void (*bind_available_cb)(uint32_t id, pios_com_callback_available available_cb, uint32_t context);
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int32_t (*ioctl)(uint32_t id, uint32_t ctl, void *param);
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};
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/* Control line definitions */
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#define COM_CTRL_LINE_DTR_MASK 0x01
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#define COM_CTRL_LINE_RTS_MASK 0x02
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/* Public Functions */
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extern int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len);
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extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
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extern int32_t PIOS_COM_ChangeConfig(uint32_t com_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_Parity parity, enum PIOS_COM_StopBits stop_bits, uint32_t baud_rate);
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extern int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
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extern int32_t PIOS_COM_RegisterCtrlLineCallback(uint32_t usart_id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
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extern int32_t PIOS_COM_RegisterBaudRateCallback(uint32_t usart_id, pios_com_callback_baud_rate baud_rate_cb, uint32_t context);
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extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
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extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
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extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);
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extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len);
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extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
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extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
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extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
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extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
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extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t *buf, uint16_t buf_len, uint32_t timeout_ms);
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extern uint32_t PIOS_COM_Available(uint32_t com_id);
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extern int32_t PIOS_COM_RegisterAvailableCallback(uint32_t com_id, pios_com_callback_available, uint32_t context);
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/* Event driven asynchronous API */
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extern int32_t PIOS_COM_ASYNC_TxStart(uint32_t id, uint16_t tx_bytes_avail);
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extern int32_t PIOS_COM_ASYNC_RxStart(uint32_t id, uint16_t rx_bytes_avail);
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extern int32_t PIOS_COM_ASYNC_RegisterRxCallback(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
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extern int32_t PIOS_COM_ASYNC_RegisterTxCallback(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
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extern void PIOS_COM_LinkComPair(uint32_t com1_id, uint32_t com2_id, bool link_ctrl_line, bool link_baud_rate);
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#define COM_AVAILABLE_NONE (0)
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#define COM_AVAILABLE_RX (1 << 0)
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#define COM_AVAILABLE_TX (1 << 1)
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#define COM_AVAILABLE_RXTX (COM_AVAILABLE_RX | COM_AVAILABLE_TX)
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/* ioctl */
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extern int32_t PIOS_COM_Ioctl(uint32_t com_id, uint32_t ctl, void *param);
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#define COM_IOCTL_NRBITS 16
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#define COM_IOCTL_TYPEBITS 16
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#define COM_IOCTL_NRMASK ((1 << COM_IOCTL_NRBITS) - 1)
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#define COM_IOCTL_TYPEMASK ((1 << COM_IOCTL_TYPEBITS) - 1)
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#define COM_IOCTL_NRSHIFT 0
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#define COM_IOCTL_TYPESHIFT (COM_IOCTL_NRSHIFT + COM_IOCTL_NRBITS)
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#define COM_IOCTL(type, nr, pt) \
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(((type) << COM_IOCTL_TYPESHIFT) | \
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((nr) << COM_IOCTL_NRSHIFT))
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/* used to decode ioctl numbers.. */
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#define COM_IOCTL_TYPE(nr) (((nr) >> COM_IOCTL_TYPESHIFT) & COM_IOCTL_TYPEMASK)
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#define COM_IOCTL_NR(nr) (((nr) >> COM_IOCTL_NRSHIFT) & COM_IOCTL_NRMASK)
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enum pios_com_ioctl_type {
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COM_IOCTL_TYPE_USART,
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COM_IOCTL_TYPE_USB_CDC,
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COM_IOCTL_TYPE_SOFT_UART,
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};
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#define COM_IOCTL_ENOSYS (-1) /* Function not implemented */
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#endif /* PIOS_COM_H */
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/**
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* @}
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* @}
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*/
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