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f52a719c1d
New standard to be used is PIOS_Module_Function(). Likewise with OpenPilot, OP_Module_Function() is to be used. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@59 ebee16cc-31ac-478f-84a7-5cbb03baadba
306 lines
8.9 KiB
C
306 lines
8.9 KiB
C
/**
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******************************************************************************
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*
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* @file pios_com.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief COM layer functions
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_COM COM layer functions
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* @{
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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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/* Project Includes */
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#include "pios.h"
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/* Private Function Prototypes */
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/* Local Variables */
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static int32_t (*receive_callback_func)(COMPortTypeDef port, char c);
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/**
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* Initializes COM layer
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* \param[in] mode currently only mode 0 supported
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* \return < 0 if initialisation failed
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*/
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int32_t PIOS_COM_Init(void)
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{
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int32_t ret = 0;
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/* Disable callback by default */
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receive_callback_func = NULL;
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/* If any COM assignment: */
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PIOS_USART_Init();
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return -ret;
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}
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/**
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* Sends a package over given port
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] buffer character buffer
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* \param[in] len buffer length
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* \return -1 if port not available
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* \return -2 if non-blocking mode activated: buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendBufferNonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len)
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{
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/* Branch depending on selected port */
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switch(port) {
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case 0:
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return PIOS_USART_TxBufferPutMoreNonBlocking(COM_DEBUG_PORT, buffer, len);
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case 1:
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return PIOS_USART_TxBufferPutMoreNonBlocking(GPS, buffer, len);
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case 2:
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return PIOS_USART_TxBufferPutMoreNonBlocking(TELEM, buffer, len);
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case 3:
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return PIOS_USART_TxBufferPutMoreNonBlocking(AUX, buffer, len);
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default:
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/* Invalid port */
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return -1;
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}
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}
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/**
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* Sends a package over given port
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* (blocking function)
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] buffer character buffer
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* \param[in] len buffer length
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendBuffer(COMPortTypeDef port, uint8_t *buffer, uint16_t len)
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{
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/* Branch depending on selected port */
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switch(port) {
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case 0:
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return PIOS_USART_TxBufferPutMore(COM_DEBUG_PORT, buffer, len);
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case 1:
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return PIOS_USART_TxBufferPutMore(GPS, buffer, len);
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case 2:
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return PIOS_USART_TxBufferPutMore(TELEM, buffer, len);
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case 3:
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return PIOS_USART_TxBufferPutMore(AUX, buffer, len);
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default:
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/* Invalid port */
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return -1;
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}
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}
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/**
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* Sends a single character over given port
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] c character
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* \return -1 if port not available
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* \return -2 buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendCharNonBlocking(COMPortTypeDef port, char c)
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{
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return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)&c, 1);
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}
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/**
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* Sends a single character over given port
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* (blocking function)
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] c character
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendChar(COMPortTypeDef port, char c)
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{
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return PIOS_COM_SendBuffer(port, (uint8_t *)&c, 1);
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}
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/**
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* Sends a string over given port
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] str zero-terminated string
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* \return -1 if port not available
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* \return -2 buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendStringNonBlocking(COMPortTypeDef port, char *str)
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{
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return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str));
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}
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/**
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* Sends a string over given port
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* (blocking function)
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] str zero-terminated string
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendString(COMPortTypeDef port, char *str)
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{
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return PIOS_COM_SendBuffer(port, (uint8_t *)str, strlen(str));
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}
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/**
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* Sends a formatted string (-> printf) over given port
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] *format zero-terminated format string - 128 characters supported maximum!
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* \param[in] ... optional arguments,
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* 128 characters supported maximum!
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* \return -2 if non-blocking mode activated: buffer is full
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendFormattedStringNonBlocking(COMPortTypeDef port, char *format, ...)
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{
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uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
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va_list args;
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va_start(args, format);
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vsprintf((char *)buffer, format, args);
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return PIOS_COM_SendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer));
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}
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/**
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* Sends a formatted string (-> printf) over given port
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* (blocking function)
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \param[in] *format zero-terminated format string - 128 characters supported maximum!
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* \param[in] ... optional arguments,
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t PIOS_COM_SendFormattedString(COMPortTypeDef port, char *format, ...)
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{
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uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
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va_list args;
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va_start(args, format);
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vsprintf((char *)buffer, format, args);
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return PIOS_COM_SendBuffer(port, buffer, (uint16_t)strlen((char *)buffer));
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}
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/**
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* Checks for incoming COM messages, calls the callback function which has
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* been installed via COMReceiveCallbackInit()
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*
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* Not for use in an application - this function is called by
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* by a task in the programming model!
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*
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* \return < 0 on errors
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*/
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int32_t PIOS_COM_ReceiveHandler(void)
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{
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uint8_t port;
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/* Interface to be checked */
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uint8_t intf = 0;
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/* Number of forwards - stop after 10 forwards to yield some CPU time for other tasks */
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uint8_t total_bytes_forwarded = 0;
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uint8_t bytes_forwarded = 0;
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uint8_t again = 1;
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do {
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// Round Robin
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// TODO: maybe a list based approach would be better
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// it would allow to add/remove interfaces dynamically
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// this would also allow to give certain ports a higher priority (to add them multiple times to the list)
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// it would also improve this spagetthi code ;)
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int32_t status = -1;
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switch( intf++ ) {
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case 0: status = PIOS_USART_RxBufferGet(COM_DEBUG_PORT); port = COM_DEBUG_UART; break;
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case 1: status = PIOS_USART_RxBufferGet(GPS); port = COM_GPS_UART; break;
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case 2: status = PIOS_USART_RxBufferGet(TELEM); port = COM_TELEM_UART; break;
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case 3: status = PIOS_USART_RxBufferGet(AUX); port = COM_AUX_UART; break;
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default:
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// allow 64 forwards maximum to yield some CPU time for other tasks
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if(bytes_forwarded && total_bytes_forwarded < 64) {
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intf = 0; // restart with USB
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bytes_forwarded = 0; // for checking, if bytes still have been forwarded in next round
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} else {
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again = 0; // no more interfaces to be processed
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}
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status = -1; // empty round - no message
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}
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/* Message received? */
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if(status >= 0) {
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/* Notify that a package has been forwarded */
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++bytes_forwarded;
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++total_bytes_forwarded;
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/* Call function */
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if(receive_callback_func != NULL)
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receive_callback_func(port, (uint8_t)status);
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}
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} while(again);
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return 0;
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}
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/**
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* Installs the callback function which is executed on incoming characters
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* from a COM interface.
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*
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* Example:
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* \code
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* int32_t CONSOLE_Parse(COMPortTypeDef port, char c)
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* {
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* // Do Parsing here
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*
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* return 0; // no error
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* }
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* \endcode
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*
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* The callback function has been installed in an Init() function with:
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* \code
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* PIOS_COM_ReceiveCallbackInit(CONSOLE_Parse);
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* \endcode
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* \param[in] callback_debug_command the callback function (NULL disables the callback)
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* \return < 0 on errors
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*/
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int32_t PIOS_COM_ReceiveCallbackInit(void *callback_receive)
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{
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receive_callback_func = callback_receive;
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/* No error */
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return 0;
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}
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