src/main/drivers/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 "drivers/io.h"
  24 #include "drivers/io_types.h"
  25 #include "drivers/resource.h"
  26
  27 #include "pg/pg.h"
  28
  29 typedef enum {
  30     MODE_RX = 1 << 0,
  31     MODE_TX = 1 << 1,
  32     MODE_RXTX = MODE_RX | MODE_TX
  33 } portMode_e;
  34
  35 typedef enum {
  36     SERIAL_NOT_INVERTED  = 0 << 0,
  37     SERIAL_INVERTED      = 1 << 0,
  38     SERIAL_STOPBITS_1    = 0 << 1,
  39     SERIAL_STOPBITS_2    = 1 << 1,
  40     SERIAL_PARITY_NO     = 0 << 2,
  41     SERIAL_PARITY_EVEN   = 1 << 2,
  42     SERIAL_UNIDIR        = 0 << 3,
  43     SERIAL_BIDIR         = 1 << 3,
  44
  45     /*
  46      * Note on SERIAL_BIDIR_PP
  47      * With SERIAL_BIDIR_PP, the very first start bit of back-to-back bytes
  48      * is lost and the first data byte will be lost by a framing error.
  49      * To ensure the first start bit to be sent, prepend a zero byte (0x00)
  50      * to actual data bytes.
  51      */
  52     SERIAL_BIDIR_OD        = 0 << 4,
  53     SERIAL_BIDIR_PP        = 1 << 4,
  54     SERIAL_BIDIR_NOPULL    = 1 << 5, // disable pulls in BIDIR RX mode
  55     SERIAL_BIDIR_PP_PD     = 1 << 6, // PP mode, normall inverted, but with PullDowns, to fix SA after bidir issue fixed (#10220)
  56 } portOptions_e;
  57
  58 // Define known line control states which may be passed up by underlying serial driver callback
  59 #define CTRL_LINE_STATE_DTR (1 << 0)
  60 #define CTRL_LINE_STATE_RTS (1 << 1)
  61
  62 typedef void (*serialReceiveCallbackPtr)(uint16_t data, void *rxCallbackData);   // used by serial drivers to return frames to app
  63 typedef void (*serialIdleCallbackPtr)();
  64
  65 typedef struct serialPort_s {
  66
  67     const struct serialPortVTable *vTable;
  68
  69     portMode_e mode;
  70     portOptions_e options;
  71
  72     uint32_t baudRate;
  73
  74     uint32_t rxBufferSize;
  75     uint32_t txBufferSize;
  76     volatile uint8_t *rxBuffer;
  77     volatile uint8_t *txBuffer;
  78     uint32_t rxBufferHead;
  79     uint32_t rxBufferTail;
  80     uint32_t txBufferHead;
  81     uint32_t txBufferTail;
  82
  83     serialReceiveCallbackPtr rxCallback;
  84     void *rxCallbackData;
  85
  86     serialIdleCallbackPtr idleCallback;
  87
  88     uint8_t identifier;
  89 } serialPort_t;
  90
  91 #if defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)
  92 # ifdef USE_SOFTSERIAL2
  93 #  define SERIAL_PORT_MAX_INDEX (RESOURCE_SOFT_OFFSET + 2)
  94 # else
  95 #  define SERIAL_PORT_MAX_INDEX (RESOURCE_SOFT_OFFSET + 1)
  96 # endif
  97 #else
  98 # define SERIAL_PORT_MAX_INDEX RESOURCE_SOFT_OFFSET
  99 #endif
 100
 101 typedef struct serialPinConfig_s {
 102     ioTag_t ioTagTx[SERIAL_PORT_MAX_INDEX];
 103     ioTag_t ioTagRx[SERIAL_PORT_MAX_INDEX];
 104     ioTag_t ioTagInverter[SERIAL_PORT_MAX_INDEX];
 105 } serialPinConfig_t;
 106
 107 PG_DECLARE(serialPinConfig_t, serialPinConfig);
 108
 109 struct serialPortVTable {
 110     void (*serialWrite)(serialPort_t *instance, uint8_t ch);
 111
 112     uint32_t (*serialTotalRxWaiting)(const serialPort_t *instance);
 113     uint32_t (*serialTotalTxFree)(const serialPort_t *instance);
 114
 115     uint8_t (*serialRead)(serialPort_t *instance);
 116
 117     // Specified baud rate may not be allowed by an implementation, use serialGetBaudRate to determine actual baud rate in use.
 118     void (*serialSetBaudRate)(serialPort_t *instance, uint32_t baudRate);
 119
 120     bool (*isSerialTransmitBufferEmpty)(const serialPort_t *instance);
 121
 122     void (*setMode)(serialPort_t *instance, portMode_e mode);
 123     void (*setCtrlLineStateCb)(serialPort_t *instance, void (*cb)(void *instance, uint16_t ctrlLineState), void *context);
 124     void (*setBaudRateCb)(serialPort_t *instance, void (*cb)(serialPort_t *context, uint32_t baud), serialPort_t *context);
 125
 126     void (*writeBuf)(serialPort_t *instance, const void *data, int count);
 127     // Optional functions used to buffer large writes.
 128     void (*beginWrite)(serialPort_t *instance);
 129     void (*endWrite)(serialPort_t *instance);
 130 };
 131
 132 void serialWrite(serialPort_t *instance, uint8_t ch);
 133 uint32_t serialRxBytesWaiting(const serialPort_t *instance);
 134 uint32_t serialTxBytesFree(const serialPort_t *instance);
 135 void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count);
 136 uint8_t serialRead(serialPort_t *instance);
 137 void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate);
 138 void serialSetMode(serialPort_t *instance, portMode_e mode);
 139 void serialSetCtrlLineStateCb(serialPort_t *instance, void (*cb)(void *context, uint16_t ctrlLineState), void *context);
 140 void serialSetBaudRateCb(serialPort_t *instance, void (*cb)(serialPort_t *context, uint32_t baud), serialPort_t *context);
 141 bool isSerialTransmitBufferEmpty(const serialPort_t *instance);
 142 void serialPrint(serialPort_t *instance, const char *str);
 143 uint32_t serialGetBaudRate(serialPort_t *instance);
 144
 145 // A shim that adapts the bufWriter API to the serialWriteBuf() API.
 146 void serialWriteBufShim(void *instance, const uint8_t *data, int count);
 147 void serialBeginWrite(serialPort_t *instance);
 148 void serialEndWrite(serialPort_t *instance);