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5f8760a55c
This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
66 lines
2.9 KiB
C
66 lines
2.9 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 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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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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struct pios_com_driver {
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void (*init)(uint32_t id);
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void (*set_baud)(uint32_t id, uint32_t baud);
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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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};
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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);
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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_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 int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id);
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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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