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8f3c2dbafb
Updates to AHRS code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@615 ebee16cc-31ac-478f-84a7-5cbb03baadba
345 lines
9.1 KiB
C
345 lines
9.1 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) 2010.
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* Parts by Thorsten Klose (tk@midibox.org)
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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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#if defined(PIOS_INCLUDE_COM)
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/* Global Variables */
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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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* Initialises 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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#if defined(PIOS_INCLUDE_USART)
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PIOS_USART_Init();
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#endif
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#if defined(PIOS_INCLUDE_USB_HID)
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PIOS_USB_HID_Init(0);
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#endif
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return ret;
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}
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/**
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* Change the port speed without re-initializing
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* \param[in] port COM port
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* \param[in] baud Requested baud rate
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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_ChangeBaud(COMPortTypeDef port, uint32_t baud)
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{
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/* Branch depending on selected port */
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switch(port) {
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#if defined(PIOS_INCLUDE_USART)
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case COM_DEBUG_USART:
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PIOS_USART_ChangeBaud(PIOS_COM_DEBUG_PORT, baud);
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return 0;
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case COM_USART1:
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PIOS_USART_ChangeBaud(USART_1, baud);
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return 0;
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case COM_USART2:
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PIOS_USART_ChangeBaud(USART_2, baud);
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return 0;
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case COM_USART3:
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PIOS_USART_ChangeBaud(USART_3, baud);
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return 0;
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#endif
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case COM_USB_HID:
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return 0;
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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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* \param[in] port COM port
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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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#if defined(PIOS_INCLUDE_USART)
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case COM_DEBUG_USART:
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return PIOS_USART_TxBufferPutMoreNonBlocking(PIOS_COM_DEBUG_PORT, buffer, len);
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#endif
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#if PIOS_USART1_ENABLED
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case COM_USART1:
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return PIOS_USART_TxBufferPutMoreNonBlocking(USART_1, buffer, len);
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#endif
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#if PIOS_USART2_ENABLED
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case COM_USART2:
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return PIOS_USART_TxBufferPutMoreNonBlocking(USART_2, buffer, len);
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#endif
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#if PIOS_USART3_ENABLED
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case COM_USART3:
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return PIOS_USART_TxBufferPutMoreNonBlocking(USART_3, buffer, len);
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#endif
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#if defined(PIOS_INCLUDE_USB_HID)
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case COM_USB_HID:
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return PIOS_USB_HID_TxBufferPutMoreNonBlocking(buffer, len);
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#endif
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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
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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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#if defined(PIOS_INCLUDE_USART)
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case COM_DEBUG_USART:
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return PIOS_USART_TxBufferPutMore(PIOS_COM_DEBUG_PORT, buffer, len);
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#endif
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#if PIOS_USART1_ENABLED
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case COM_USART1:
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return PIOS_USART_TxBufferPutMore(USART_1, buffer, len);
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#endif
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#if PIOS_USART2_ENABLED
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case COM_USART2:
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return PIOS_USART_TxBufferPutMore(USART_2, buffer, len);
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#endif
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#if PIOS_USART3_ENABLED
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case COM_USART3:
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return PIOS_USART_TxBufferPutMore(USART_3, buffer, len);
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#endif
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#if defined(PIOS_INCLUDE_USB_HID)
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case COM_USB_HID:
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return PIOS_USB_HID_TxBufferPutMore(buffer, len);
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#endif
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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
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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
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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
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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
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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
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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
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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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* Transfer bytes from port buffers into another buffer
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* \param[in] port COM port
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* \returns Byte from buffer
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*/
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uint8_t PIOS_COM_ReceiveBuffer(COMPortTypeDef port)
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{
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switch(port) {
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#if defined(PIOS_INCLUDE_USART)
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case COM_DEBUG_USART:
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return PIOS_USART_RxBufferGet(PIOS_COM_DEBUG_PORT);
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#endif
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#if PIOS_USART1_ENABLED
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case COM_USART1:
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return PIOS_USART_RxBufferGet(USART_1);
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#endif
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#if PIOS_USART2_ENABLED
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case COM_USART2:
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return PIOS_USART_RxBufferGet(USART_2);
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#endif
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#if PIOS_USART3_ENABLED
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case COM_USART3:
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return PIOS_USART_RxBufferGet(USART_3);
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#endif
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#if defined(PIOS_INCLUDE_USB_HID)
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case COM_USB_HID:
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return PIOS_USB_HID_RxBufferGet();
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#endif
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/* To suppress warnings */
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default:
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return 0;
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}
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}
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/**
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* Get the number of bytes waiting in the buffer
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* \param[in] port COM port
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* \return Number of bytes used in buffer
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*/
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int32_t PIOS_COM_ReceiveBufferUsed(COMPortTypeDef port)
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{
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switch(port) {
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#if defined(PIOS_INCLUDE_USART)
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case COM_DEBUG_USART:
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return PIOS_USART_RxBufferUsed(PIOS_COM_DEBUG_PORT);
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#if PIOS_USART1_ENABLED
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case COM_USART1:
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return PIOS_USART_RxBufferUsed(USART_1);
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#endif
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#if PIOS_USART2_ENABLED
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case COM_USART2:
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return PIOS_USART_RxBufferUsed(USART_2);
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#endif
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#if PIOS_USART3_ENABLED
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case COM_USART3:
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return PIOS_USART_RxBufferUsed(USART_3);
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#endif
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#endif
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#if defined(PIOS_INCLUDE_USB_HID)
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case COM_USB_HID:
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return PIOS_USB_HID_RxBufferUsed();
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#endif
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/* To suppress warnings */
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default:
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return 0;
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}
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}
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#endif
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