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 OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      COM layer functions header
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #ifndef PIOS_COM_H
  32 #define PIOS_COM_H
  33
  34 #include <stdint.h> /* uint*_t */
  35 #include <stdbool.h> /* bool */
  36
  37 typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t *buf, uint16_t buf_len, uint16_t *headroom, bool *task_woken);
  38
  39 struct pios_com_driver {
  40     void (*init)(uint32_t id);
  41     void (*set_baud)(uint32_t id, uint32_t baud);
  42     void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
  43     void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
  44     void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
  45     void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
  46     bool (*available)(uint32_t id);
  47 };
  48
  49 /* Public Functions */
  50 extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
  51 extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
  52 extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
  53 extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);
  54 extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len);
  55 extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
  56 extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
  57 extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
  58 extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
  59 extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t *buf, uint16_t buf_len, uint32_t timeout_ms);
  60 extern bool PIOS_COM_Available(uint32_t com_id);
  61
  62 #endif /* PIOS_COM_H */
  63
  64 /**
  65  * @}
  66  * @}
  67  */