src/main/io/serial.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include <stdint.h>
  21 #include <stdbool.h>
  22
  23 #include "config/parameter_group.h"
  24 #include "drivers/serial.h"
  25
  26 typedef enum {
  27     PORTSHARING_UNUSED = 0,
  28     PORTSHARING_NOT_SHARED,
  29     PORTSHARING_SHARED
  30 } portSharing_e;
  31
  32 typedef enum {
  33     FUNCTION_NONE                       = 0,
  34     FUNCTION_MSP                        = (1 << 0), // 1
  35     FUNCTION_GPS                        = (1 << 1), // 2
  36     FUNCTION_UNUSED_3                   = (1 << 2), // 4 //Was FUNCTION_TELEMETRY_FRSKY
  37     FUNCTION_TELEMETRY_HOTT             = (1 << 3), // 8
  38     FUNCTION_TELEMETRY_LTM              = (1 << 4), // 16
  39     FUNCTION_TELEMETRY_SMARTPORT        = (1 << 5), // 32
  40     FUNCTION_RX_SERIAL                  = (1 << 6), // 64
  41     FUNCTION_BLACKBOX                   = (1 << 7), // 128
  42     FUNCTION_TELEMETRY_MAVLINK          = (1 << 8), // 256
  43     FUNCTION_TELEMETRY_IBUS             = (1 << 9), // 512
  44     FUNCTION_RCDEVICE                   = (1 << 10), // 1024
  45     FUNCTION_VTX_SMARTAUDIO             = (1 << 11), // 2048
  46     FUNCTION_VTX_TRAMP                  = (1 << 12), // 4096
  47     FUNCTION_UNUSED_1                   = (1 << 13), // 8192: former\ UAV_INTERCONNECT
  48     FUNCTION_OPTICAL_FLOW               = (1 << 14), // 16384
  49     FUNCTION_LOG                        = (1 << 15), // 32768
  50     FUNCTION_RANGEFINDER                = (1 << 16), // 65536
  51     FUNCTION_VTX_FFPV                   = (1 << 17), // 131072
  52     FUNCTION_ESCSERIAL                  = (1 << 18), // 262144: this is used for both SERIALSHOT and ESC_SENSOR telemetry
  53     FUNCTION_TELEMETRY_SIM              = (1 << 19), // 524288
  54     FUNCTION_FRSKY_OSD                  = (1 << 20), // 1048576
  55     FUNCTION_DJI_HD_OSD                 = (1 << 21), // 2097152
  56     FUNCTION_SERVO_SERIAL               = (1 << 22), // 4194304
  57     FUNCTION_TELEMETRY_SMARTPORT_MASTER = (1 << 23), // 8388608
  58     FUNCTION_UNUSED_2                   = (1 << 24), // 16777216
  59     FUNCTION_MSP_OSD                    = (1 << 25), // 33554432
  60     FUNCTION_GIMBAL                     = (1 << 26), // 67108864
  61     FUNCTION_GIMBAL_HEADTRACKER         = (1 << 27), // 134217728
  62 } serialPortFunction_e;
  63
  64 #define FUNCTION_VTX_MSP FUNCTION_MSP_OSD
  65
  66 typedef enum {
  67     BAUD_AUTO = 0,
  68     BAUD_1200,
  69     BAUD_2400,
  70     BAUD_4800,
  71     BAUD_9600,
  72     BAUD_19200,
  73     BAUD_38400,
  74     BAUD_57600,
  75     BAUD_115200,
  76     BAUD_230400,
  77     BAUD_250000,
  78     BAUD_460800,
  79     BAUD_921600,
  80     BAUD_1000000,
  81     BAUD_1500000,
  82     BAUD_2000000,
  83     BAUD_2470000,
  84
  85     BAUD_MIN = BAUD_AUTO,
  86     BAUD_MAX = BAUD_2470000,
  87 } baudRate_e;
  88
  89 extern const uint32_t baudRates[];
  90
  91 // serial port identifiers are now fixed, these values are used by MSP commands.
  92 typedef enum {
  93     SERIAL_PORT_NONE = -1,
  94     SERIAL_PORT_USART1 = 0,
  95     SERIAL_PORT_USART2,
  96     SERIAL_PORT_USART3,
  97     SERIAL_PORT_USART4,
  98     SERIAL_PORT_USART5,
  99     SERIAL_PORT_USART6,
 100     SERIAL_PORT_USART7,
 101     SERIAL_PORT_USART8,
 102     SERIAL_PORT_USB_VCP = 20,
 103     SERIAL_PORT_SOFTSERIAL1 = 30,
 104     SERIAL_PORT_SOFTSERIAL2,
 105     SERIAL_PORT_IDENTIFIER_MAX = SERIAL_PORT_SOFTSERIAL2
 106 } serialPortIdentifier_e;
 107
 108 extern const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT];
 109
 110 //
 111 // runtime
 112 //
 113 typedef struct serialPortUsage_s {
 114     serialPortIdentifier_e identifier;
 115     serialPort_t *serialPort;
 116     serialPortFunction_e function;
 117 } serialPortUsage_t;
 118
 119 serialPort_t *findSharedSerialPort(uint32_t functionMask, serialPortFunction_e sharedWithFunction);
 120 serialPort_t *findNextSharedSerialPort(uint32_t functionMask, serialPortFunction_e sharedWithFunction);
 121
 122 //
 123 // configuration
 124 //
 125 typedef struct serialPortConfig_s {
 126     uint32_t functionMask;
 127     serialPortIdentifier_e identifier;
 128     uint8_t msp_baudrateIndex;
 129     uint8_t gps_baudrateIndex;
 130     uint8_t peripheral_baudrateIndex;
 131     uint8_t telemetry_baudrateIndex; // not used for all telemetry systems, e.g. HoTT only works at 19200.
 132 } serialPortConfig_t;
 133
 134 typedef struct serialConfig_s {
 135     serialPortConfig_t portConfigs[SERIAL_PORT_COUNT];
 136     uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
 137 } serialConfig_t;
 138
 139 PG_DECLARE(serialConfig_t, serialConfig);
 140
 141 typedef void serialConsumer(uint8_t);
 142
 143 //
 144 // configuration
 145 //
 146 void serialInit(bool softserialEnabled);
 147 void serialRemovePort(serialPortIdentifier_e identifier);
 148 uint8_t serialGetAvailablePortCount(void);
 149 bool serialIsPortAvailable(serialPortIdentifier_e identifier);
 150 bool isSerialConfigValid(const serialConfig_t *serialConfig);
 151 serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e identifier);
 152 bool doesConfigurationUsePort(serialPortIdentifier_e portIdentifier);
 153 serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function);
 154 serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function);
 155
 156 portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function);
 157 bool isSerialPortShared(const serialPortConfig_t *portConfig, uint32_t functionMask, serialPortFunction_e sharedWithFunction);
 158
 159 serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier);
 160 int findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier);
 161 //
 162 // runtime
 163 //
 164 serialPort_t *openSerialPort(
 165     serialPortIdentifier_e identifier,
 166     serialPortFunction_e function,
 167     serialReceiveCallbackPtr callback,
 168     void *rxCallbackData,
 169     uint32_t baudrate,
 170     portMode_t mode,
 171     portOptions_t options
 172 );
 173 void closeSerialPort(serialPort_t *serialPort);
 174
 175 void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort);
 176
 177 baudRate_e lookupBaudRateIndex(uint32_t baudRate);
 178
 179
 180 //
 181 // msp/cli/bootloader
 182 //
 183 void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer *leftC, serialConsumer *rightC);