mirror of
https://github.com/betaflight/betaflight.git
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147 lines
4.8 KiB
C
147 lines
4.8 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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typedef enum {
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PORTSHARING_UNUSED = 0,
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PORTSHARING_NOT_SHARED,
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PORTSHARING_SHARED
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} portSharing_e;
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typedef enum {
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FUNCTION_NONE = 0,
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FUNCTION_MSP = (1 << 0), // 1
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FUNCTION_GPS = (1 << 1), // 2
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FUNCTION_TELEMETRY_FRSKY = (1 << 2), // 4
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FUNCTION_TELEMETRY_HOTT = (1 << 3), // 8
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FUNCTION_TELEMETRY_LTM = (1 << 4), // 16
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FUNCTION_TELEMETRY_SMARTPORT = (1 << 5), // 32
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FUNCTION_RX_SERIAL = (1 << 6), // 64
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FUNCTION_BLACKBOX = (1 << 7), // 128
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FUNCTION_PASSTHROUGH = (1 << 8), // 256
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FUNCTION_TELEMETRY_MAVLINK = (1 << 9), // 512
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} serialPortFunction_e;
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typedef enum {
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BAUD_AUTO = 0,
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BAUD_9600,
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BAUD_19200,
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BAUD_38400,
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BAUD_57600,
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BAUD_115200,
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BAUD_230400,
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BAUD_250000,
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BAUD_500000,
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BAUD_1000000,
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} baudRate_e;
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extern const uint32_t baudRates[];
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// serial port identifiers are now fixed, these values are used by MSP commands.
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typedef enum {
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SERIAL_PORT_NONE = -1,
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SERIAL_PORT_USART1 = 0,
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SERIAL_PORT_USART2,
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SERIAL_PORT_USART3,
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SERIAL_PORT_USART4,
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SERIAL_PORT_USART5,
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SERIAL_PORT_USART6,
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SERIAL_PORT_USB_VCP = 20,
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SERIAL_PORT_SOFTSERIAL1 = 30,
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SERIAL_PORT_SOFTSERIAL2,
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SERIAL_PORT_IDENTIFIER_MAX = SERIAL_PORT_SOFTSERIAL2
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} serialPortIdentifier_e;
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extern const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT];
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//
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// runtime
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//
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typedef struct serialPortUsage_s {
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serialPortIdentifier_e identifier;
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serialPort_t *serialPort;
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serialPortFunction_e function;
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} serialPortUsage_t;
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serialPort_t *findSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction);
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serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction);
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//
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// configuration
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//
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typedef struct serialPortConfig_s {
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serialPortIdentifier_e identifier;
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uint16_t functionMask;
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uint8_t msp_baudrateIndex;
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uint8_t gps_baudrateIndex;
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uint8_t blackbox_baudrateIndex;
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uint8_t telemetry_baudrateIndex; // not used for all telemetry systems, e.g. HoTT only works at 19200.
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} serialPortConfig_t;
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typedef struct serialConfig_s {
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uint8_t reboot_character; // which byte is used to reboot. Default 'R', could be changed carefully to something else.
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serialPortConfig_t portConfigs[SERIAL_PORT_COUNT];
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} serialConfig_t;
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typedef void serialConsumer(uint8_t);
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//
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// configuration
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//
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void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
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void serialRemovePort(serialPortIdentifier_e identifier);
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uint8_t serialGetAvailablePortCount(void);
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bool serialIsPortAvailable(serialPortIdentifier_e identifier);
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bool isSerialConfigValid(serialConfig_t *serialConfig);
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serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e identifier);
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bool doesConfigurationUsePort(serialPortIdentifier_e portIdentifier);
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serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function);
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serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function);
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portSharing_e determinePortSharing(serialPortConfig_t *portConfig, serialPortFunction_e function);
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bool isSerialPortShared(serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction);
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serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier);
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//
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// runtime
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//
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serialPort_t *openSerialPort(
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serialPortIdentifier_e identifier,
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serialPortFunction_e function,
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serialReceiveCallbackPtr callback,
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uint32_t baudrate,
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portMode_t mode,
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portOptions_t options
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);
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void closeSerialPort(serialPort_t *serialPort);
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void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort);
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baudRate_e lookupBaudRateIndex(uint32_t baudRate);
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//
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// msp/cli/bootloader
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//
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void evaluateOtherData(serialPort_t *serialPort, uint8_t receivedChar);
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void handleSerial(void);
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void evaluateOtherData(serialPort_t *serialPort, uint8_t receivedChar);
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void handleSerial(void);
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void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer *leftC, serialConsumer *rightC);
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