flight/pios/inc/pios_com.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_COM COM layer functions
   6  * @brief Hardware communication layer
   7  * @{
   8  *
   9  * @file       pios_com.h
  10  * @author     The LibrePilot Project, http://www.librepilot.org, Copyright (c) 2017.
  11  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  12  *             Parts by Thorsten Klose (tk@midibox.org)
  13  * @brief      COM layer functions header
  14  * @see        The GNU Public License (GPL) Version 3
  15  *
  16  *****************************************************************************/
  17 /*
  18  * This program is free software; you can redistribute it and/or modify
  19  * it under the terms of the GNU General Public License as published by
  20  * the Free Software Foundation; either version 3 of the License, or
  21  * (at your option) any later version.
  22  *
  23  * This program is distributed in the hope that it will be useful, but
  24  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  25  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  26  * for more details.
  27  *
  28  * You should have received a copy of the GNU General Public License along
  29  * with this program; if not, write to the Free Software Foundation, Inc.,
  30  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  31  */
  32
  33 #ifndef PIOS_COM_H
  34 #define PIOS_COM_H
  35
  36 #include <stdint.h> /* uint*_t */
  37 #include <stdbool.h> /* bool */
  38
  39 typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t *buf, uint16_t buf_len, uint16_t *headroom, bool *task_woken);
  40 typedef void (*pios_com_callback_ctrl_line)(uint32_t context, uint32_t mask, uint32_t state);
  41 typedef void (*pios_com_callback_baud_rate)(uint32_t context, uint32_t baud);
  42 typedef void (*pios_com_callback_available)(uint32_t context, uint32_t available);
  43
  44 enum PIOS_COM_Word_Length {
  45     PIOS_COM_Word_length_Unchanged = 0,
  46     PIOS_COM_Word_length_8b,
  47     PIOS_COM_Word_length_9b,
  48 };
  49
  50 enum PIOS_COM_StopBits {
  51     PIOS_COM_StopBits_Unchanged = 0,
  52     PIOS_COM_StopBits_0_5,
  53     PIOS_COM_StopBits_1,
  54     PIOS_COM_StopBits_1_5,
  55     PIOS_COM_StopBits_2,
  56 };
  57
  58 enum PIOS_COM_Parity {
  59     PIOS_COM_Parity_Unchanged = 0,
  60     PIOS_COM_Parity_No,
  61     PIOS_COM_Parity_Even,
  62     PIOS_COM_Parity_Odd,
  63 };
  64
  65 struct pios_com_driver {
  66     void     (*set_baud)(uint32_t id, uint32_t baud);
  67     void     (*set_config)(uint32_t usart_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_Parity parity, enum PIOS_COM_StopBits stop_bits, uint32_t baud_rate);
  68     void     (*set_ctrl_line)(uint32_t id, uint32_t mask, uint32_t state);
  69     void     (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
  70     void     (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
  71     void     (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
  72     void     (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
  73     void     (*bind_ctrl_line_cb)(uint32_t id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
  74     void     (*bind_baud_rate_cb)(uint32_t id, pios_com_callback_baud_rate baud_rate_cb, uint32_t context);
  75     uint32_t (*available)(uint32_t id);
  76     void     (*bind_available_cb)(uint32_t id, pios_com_callback_available available_cb, uint32_t context);
  77     int32_t  (*ioctl)(uint32_t id, uint32_t ctl, void *param);
  78 };
  79
  80 /* Control line definitions */
  81 #define COM_CTRL_LINE_DTR_MASK 0x01
  82 #define COM_CTRL_LINE_RTS_MASK 0x02
  83
  84 /* Public Functions */
  85 extern int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len);
  86 extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
  87 extern int32_t PIOS_COM_ChangeConfig(uint32_t com_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_Parity parity, enum PIOS_COM_StopBits stop_bits, uint32_t baud_rate);
  88 extern int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
  89 extern int32_t PIOS_COM_RegisterCtrlLineCallback(uint32_t usart_id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
  90 extern int32_t PIOS_COM_RegisterBaudRateCallback(uint32_t usart_id, pios_com_callback_baud_rate baud_rate_cb, uint32_t context);
  91 extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
  92 extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
  93 extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);
  94 extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len);
  95 extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
  96 extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
  97 extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
  98 extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
  99 extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t *buf, uint16_t buf_len, uint32_t timeout_ms);
 100 extern uint32_t PIOS_COM_Available(uint32_t com_id);
 101 extern int32_t PIOS_COM_RegisterAvailableCallback(uint32_t com_id, pios_com_callback_available, uint32_t context);
 102
 103 /* Event driven asynchronous API */
 104 extern int32_t PIOS_COM_ASYNC_TxStart(uint32_t id, uint16_t tx_bytes_avail);
 105 extern int32_t PIOS_COM_ASYNC_RxStart(uint32_t id, uint16_t rx_bytes_avail);
 106 extern int32_t PIOS_COM_ASYNC_RegisterRxCallback(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
 107 extern int32_t PIOS_COM_ASYNC_RegisterTxCallback(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
 108
 109 extern void PIOS_COM_LinkComPair(uint32_t com1_id, uint32_t com2_id, bool link_ctrl_line, bool link_baud_rate);
 110
 111 #define COM_AVAILABLE_NONE  (0)
 112 #define COM_AVAILABLE_RX    (1 << 0)
 113 #define COM_AVAILABLE_TX    (1 << 1)
 114 #define COM_AVAILABLE_RXTX  (COM_AVAILABLE_RX | COM_AVAILABLE_TX)
 115
 116 /* ioctl */
 117 extern int32_t PIOS_COM_Ioctl(uint32_t com_id, uint32_t ctl, void *param);
 118
 119 #define COM_IOCTL_NRBITS    16
 120 #define COM_IOCTL_TYPEBITS  16
 121
 122 #define COM_IOCTL_NRMASK    ((1 << COM_IOCTL_NRBITS) - 1)
 123 #define COM_IOCTL_TYPEMASK  ((1 << COM_IOCTL_TYPEBITS) - 1)
 124
 125 #define COM_IOCTL_NRSHIFT   0
 126 #define COM_IOCTL_TYPESHIFT (COM_IOCTL_NRSHIFT + COM_IOCTL_NRBITS)
 127
 128 #define COM_IOCTL(type, nr, pt) \
 129     (((type) << COM_IOCTL_TYPESHIFT) | \
 130      ((nr) << COM_IOCTL_NRSHIFT))
 131
 132 /* used to decode ioctl numbers.. */
 133 #define COM_IOCTL_TYPE(nr) (((nr) >> COM_IOCTL_TYPESHIFT) & COM_IOCTL_TYPEMASK)
 134 #define COM_IOCTL_NR(nr)   (((nr) >> COM_IOCTL_NRSHIFT) & COM_IOCTL_NRMASK)
 135
 136 enum pios_com_ioctl_type {
 137     COM_IOCTL_TYPE_USART,
 138     COM_IOCTL_TYPE_USB_CDC,
 139     COM_IOCTL_TYPE_SOFT_UART,
 140 };
 141
 142 #define COM_IOCTL_ENOSYS (-1) /* Function not implemented */
 143
 144 #endif /* PIOS_COM_H */
 145
 146 /**
 147  * @}
 148  * @}
 149  */