mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
aeda61d252
It was tested being merged with OP-472_CorvusCorax_CopterControl-Guidance_v3 branch, Spektrum on USART3 and GPS on USART1 and seems to work. Currently defaults mimic original behavior, that is, if USE_SPEKTRUM is not defined - define USE_PWM and USE_GPS. Thsi should be refactored later to make it configurable from the Makefile. Also it was not ported to the OP MB: it currently does not support the S.Bus hardware and still has original behavior with the patch. But this is one more step to dynamic configuration of ports.
319 lines
8.3 KiB
C
319 lines
8.3 KiB
C
/**
|
|
******************************************************************************
|
|
* @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 bool PIOS_COM_validate(struct pios_com_dev * com_dev)
|
|
{
|
|
return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC));
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_FREERTOS) && 0
|
|
static struct pios_com_dev * PIOS_COM_alloc(void)
|
|
{
|
|
struct pios_com_dev * com_dev;
|
|
|
|
com_dev = (struct pios_com_dev *)malloc(sizeof(*com_dev));
|
|
if (!com_dev) return (NULL);
|
|
|
|
com_dev->magic = PIOS_COM_DEV_MAGIC;
|
|
return(com_dev);
|
|
}
|
|
#else
|
|
static struct pios_com_dev pios_com_devs[PIOS_COM_MAX_DEVS];
|
|
static uint8_t pios_com_num_devs;
|
|
static struct pios_com_dev * PIOS_COM_alloc(void)
|
|
{
|
|
struct pios_com_dev * com_dev;
|
|
|
|
if (pios_com_num_devs >= PIOS_COM_MAX_DEVS) {
|
|
return (NULL);
|
|
}
|
|
|
|
com_dev = &pios_com_devs[pios_com_num_devs++];
|
|
com_dev->magic = PIOS_COM_DEV_MAGIC;
|
|
|
|
return (com_dev);
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* Initialises COM layer
|
|
* \param[out] handle
|
|
* \param[in] driver
|
|
* \param[in] id
|
|
* \return < 0 if initialisation failed
|
|
*/
|
|
int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, const uint32_t lower_id)
|
|
{
|
|
PIOS_DEBUG_Assert(com_id);
|
|
PIOS_DEBUG_Assert(driver);
|
|
|
|
struct pios_com_dev * com_dev;
|
|
|
|
com_dev = (struct pios_com_dev *) PIOS_COM_alloc();
|
|
if (!com_dev) goto out_fail;
|
|
|
|
com_dev->driver = driver;
|
|
com_dev->id = lower_id;
|
|
|
|
*com_id = (uint32_t)com_dev;
|
|
return(0);
|
|
|
|
out_fail:
|
|
return(-1);
|
|
}
|
|
|
|
/**
|
|
* 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(uint32_t com_id, uint32_t baud)
|
|
{
|
|
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->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(uint32_t com_id, const uint8_t *buffer, uint16_t len)
|
|
{
|
|
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_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(uint32_t com_id, const uint8_t *buffer, uint16_t len)
|
|
{
|
|
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) {
|
|
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(uint32_t com_id, char c)
|
|
{
|
|
return PIOS_COM_SendBufferNonBlocking(com_id, (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(uint32_t com_id, char c)
|
|
{
|
|
return PIOS_COM_SendBuffer(com_id, (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(uint32_t com_id, const char *str)
|
|
{
|
|
return PIOS_COM_SendBufferNonBlocking(com_id, (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(uint32_t com_id, const char *str)
|
|
{
|
|
return PIOS_COM_SendBuffer(com_id, (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(uint32_t com_id, 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(com_id, 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(uint32_t com_id, 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(com_id, 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(uint32_t com_id)
|
|
{
|
|
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) */
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
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(uint32_t com_id)
|
|
{
|
|
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) */
|
|
/* This is commented out so com_id=NULL can be used to disable telemetry */
|
|
//PIOS_DEBUG_Assert(0);
|
|
return 0;
|
|
}
|
|
|
|
if (!com_dev->driver->rx_avail) {
|
|
return 0;
|
|
}
|
|
|
|
return com_dev->driver->rx_avail(com_dev->id);
|
|
}
|
|
|
|
#endif
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|