src/main/io/serial.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdint.h>
  24 #include <stdbool.h>
  25
  26 #include "pg/pg.h"
  27 #include "drivers/serial.h"
  28
  29 typedef enum {
  30     PORTSHARING_UNUSED = 0,
  31     PORTSHARING_NOT_SHARED,
  32     PORTSHARING_SHARED
  33 } portSharing_e;
  34
  35 typedef enum {
  36     FUNCTION_NONE                = 0,
  37     FUNCTION_MSP                 = (1 << 0),  // 1
  38     FUNCTION_GPS                 = (1 << 1),  // 2
  39     FUNCTION_TELEMETRY_FRSKY_HUB = (1 << 2),  // 4
  40     FUNCTION_TELEMETRY_HOTT      = (1 << 3),  // 8
  41     FUNCTION_TELEMETRY_LTM       = (1 << 4),  // 16
  42     FUNCTION_TELEMETRY_SMARTPORT = (1 << 5),  // 32
  43     FUNCTION_RX_SERIAL           = (1 << 6),  // 64
  44     FUNCTION_BLACKBOX            = (1 << 7),  // 128
  45     FUNCTION_TELEMETRY_MAVLINK   = (1 << 9),  // 512
  46     FUNCTION_ESC_SENSOR          = (1 << 10), // 1024
  47     FUNCTION_VTX_SMARTAUDIO      = (1 << 11), // 2048
  48     FUNCTION_TELEMETRY_IBUS      = (1 << 12), // 4096
  49     FUNCTION_VTX_TRAMP           = (1 << 13), // 8192
  50     FUNCTION_RCDEVICE            = (1 << 14), // 16384
  51     FUNCTION_LIDAR_TF            = (1 << 15), // 32768
  52     FUNCTION_FRSKY_OSD           = (1 << 16), // 65536
  53 } serialPortFunction_e;
  54
  55 #define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)
  56 #define TELEMETRY_PORT_FUNCTIONS_MASK (TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT)
  57
  58 typedef enum {
  59     BAUD_AUTO = 0,
  60     BAUD_9600,
  61     BAUD_19200,
  62     BAUD_38400,
  63     BAUD_57600,
  64     BAUD_115200,
  65     BAUD_230400,
  66     BAUD_250000,
  67     BAUD_400000,
  68     BAUD_460800,
  69     BAUD_500000,
  70     BAUD_921600,
  71     BAUD_1000000,
  72     BAUD_1500000,
  73     BAUD_2000000,
  74     BAUD_2470000,
  75     BAUD_COUNT
  76 } baudRate_e;
  77
  78 extern const uint32_t baudRates[];
  79
  80 // serial port identifiers are now fixed, these values are used by MSP commands.
  81 typedef enum {
  82     SERIAL_PORT_ALL = -2,
  83     SERIAL_PORT_NONE = -1,
  84     SERIAL_PORT_USART1 = 0,
  85     SERIAL_PORT_USART2,
  86     SERIAL_PORT_USART3,
  87     SERIAL_PORT_UART4,
  88     SERIAL_PORT_UART5,
  89     SERIAL_PORT_USART6,
  90     SERIAL_PORT_USART7,
  91     SERIAL_PORT_USART8,
  92     SERIAL_PORT_UART9,
  93     SERIAL_PORT_USART10,
  94     SERIAL_PORT_USB_VCP = 20,
  95     SERIAL_PORT_SOFTSERIAL1 = 30,
  96     SERIAL_PORT_SOFTSERIAL2,
  97     SERIAL_PORT_LPUART1 = 40,
  98     SERIAL_PORT_IDENTIFIER_MAX = SERIAL_PORT_LPUART1,
  99 } serialPortIdentifier_e;
 100
 101 extern const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT];
 102
 103 #define SERIAL_PORT_IDENTIFIER_TO_INDEX(x) (((x) < RESOURCE_SOFT_OFFSET) ? (x) : (RESOURCE_SOFT_OFFSET + ((x) - SERIAL_PORT_SOFTSERIAL1)))
 104
 105 #define SERIAL_PORT_IDENTIFIER_TO_UARTDEV(x) ((x) - SERIAL_PORT_USART1 + UARTDEV_1)
 106
 107 //
 108 // runtime
 109 //
 110 typedef struct serialPortUsage_s {
 111     serialPort_t *serialPort;
 112     serialPortFunction_e function;
 113     serialPortIdentifier_e identifier;
 114 } serialPortUsage_t;
 115
 116 serialPort_t *findSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction);
 117
 118 //
 119 // configuration
 120 //
 121 typedef struct serialPortConfig_s {
 122     uint32_t functionMask;
 123     int8_t identifier;
 124     uint8_t msp_baudrateIndex;
 125     uint8_t gps_baudrateIndex;
 126     uint8_t blackbox_baudrateIndex;
 127     uint8_t telemetry_baudrateIndex; // not used for all telemetry systems, e.g. HoTT only works at 19200.
 128 } serialPortConfig_t;
 129
 130 typedef struct serialConfig_s {
 131     serialPortConfig_t portConfigs[SERIAL_PORT_COUNT];
 132     uint16_t serial_update_rate_hz;
 133     uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
 134 } serialConfig_t;
 135
 136 PG_DECLARE(serialConfig_t, serialConfig);
 137
 138 typedef void serialConsumer(uint8_t);
 139
 140 //
 141 // configuration
 142 //
 143 void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
 144 void serialRemovePort(serialPortIdentifier_e identifier);
 145 uint8_t serialGetAvailablePortCount(void);
 146 bool serialIsPortAvailable(serialPortIdentifier_e identifier);
 147 bool isSerialConfigValid(const serialConfig_t *serialConfig);
 148 const serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e identifier);
 149 serialPortConfig_t *serialFindPortConfigurationMutable(serialPortIdentifier_e identifier);
 150 bool doesConfigurationUsePort(serialPortIdentifier_e portIdentifier);
 151 const serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function);
 152 const serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function);
 153
 154 portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function);
 155 bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction);
 156
 157 void pgResetFn_serialConfig(serialConfig_t *serialConfig); //!!TODO remove need for this
 158 serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier);
 159 int findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier);
 160 //
 161 // runtime
 162 //
 163 serialPort_t *openSerialPort(
 164     serialPortIdentifier_e identifier,
 165     serialPortFunction_e function,
 166     serialReceiveCallbackPtr rxCallback,
 167     void *rxCallbackData,
 168     uint32_t baudrate,
 169     portMode_e mode,
 170     portOptions_e options
 171 );
 172 void closeSerialPort(serialPort_t *serialPort);
 173
 174 void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort);
 175
 176 baudRate_e lookupBaudRateIndex(uint32_t baudRate);
 177
 178
 179 //
 180 // msp/cli/bootloader
 181 //
 182 void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer *leftC, serialConsumer *rightC);