src/main/drivers/serial.h - master - Sangak/inav

src/main/drivers/serial.h
129 строк4 KB
JLP
Passthrough, USB Improvements
17 янв 2026, 17:15
17 янв 2026, 17:153bbc0ae
/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#include "drivers/io.h"

typedef struct {
    ioTag_t rxPin;
    ioTag_t txPin;
} serialPortPins_t;

typedef enum portMode_t {
    MODE_RX = 1 << 0,
    MODE_TX = 1 << 1,
    MODE_RXTX = MODE_RX | MODE_TX
} portMode_t;

typedef enum portOptions_t {
    SERIAL_NOT_INVERTED  = 0 << 0,
    SERIAL_INVERTED      = 1 << 0,
    SERIAL_STOPBITS_1    = 0 << 1,
    SERIAL_STOPBITS_2    = 1 << 1,
    SERIAL_PARITY_NO     = 0 << 2,
    SERIAL_PARITY_EVEN   = 1 << 2,
    SERIAL_UNIDIR        = 0 << 3,
    SERIAL_BIDIR         = 1 << 3,

    /*
     * Note on SERIAL_BIDIR_PP
     * With SERIAL_BIDIR_PP, the very first start bit of back-to-back bytes
     * is lost and the first data byte will be lost by a framing error.
     * To ensure the first start bit to be sent, prepend a zero byte (0x00)
     * to actual data bytes.
     */
    SERIAL_BIDIR_OD      = 0 << 4,
    SERIAL_BIDIR_PP      = 1 << 4,
    SERIAL_BIDIR_NOPULL  = 1 << 5, // disable pulls in BIDIR RX mode
    SERIAL_BIDIR_UP      = 0 << 5, // enable pullup in BIDIR mode

    SERIAL_LONGSTOP      = 0 << 6,
    SERIAL_SHORTSTOP     = 1 << 6,
} portOptions_t;

typedef void (*serialReceiveCallbackPtr)(uint16_t data, void *rxCallbackData);   // used by serial drivers to return frames to app

typedef struct serialPort_s {

    const struct serialPortVTable *vTable;

    uint8_t identifier;
    portMode_t mode;
    portOptions_t options;

    uint32_t baudRate;

    uint32_t rxBufferSize;
    uint32_t txBufferSize;
    volatile uint8_t *rxBuffer;
    volatile uint8_t *txBuffer;
    uint32_t rxBufferHead;
    uint32_t rxBufferTail;
    uint32_t txBufferHead;
    uint32_t txBufferTail;

    serialReceiveCallbackPtr rxCallback;
    void *rxCallbackData;
} serialPort_t;

struct serialPortVTable {
    void (*serialWrite)(serialPort_t *instance, uint8_t ch);

    uint32_t (*serialTotalRxWaiting)(const serialPort_t *instance);
    uint32_t (*serialTotalTxFree)(const serialPort_t *instance);

    uint8_t (*serialRead)(serialPort_t *instance);

    // Specified baud rate may not be allowed by an implementation, use serialGetBaudRate to determine actual baud rate in use.
    void (*serialSetBaudRate)(serialPort_t *instance, uint32_t baudRate);

    bool (*isSerialTransmitBufferEmpty)(const serialPort_t *instance);

    void (*setMode)(serialPort_t *instance, portMode_t mode);

    void (*setOptions)(serialPort_t *instance, portOptions_t options);

    void (*writeBuf)(serialPort_t *instance, const void *data, int count);

    bool (*isConnected)(const serialPort_t *instance);

    bool (*isIdle)(serialPort_t *instance);

    // Optional functions used to buffer large writes.
    void (*beginWrite)(serialPort_t *instance);
    void (*endWrite)(serialPort_t *instance);
};

void serialWrite(serialPort_t *instance, uint8_t ch);
uint32_t serialRxBytesWaiting(const serialPort_t *instance);
uint32_t serialTxBytesFree(const serialPort_t *instance);
void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count);
uint8_t serialRead(serialPort_t *instance);
uint32_t serialReadBuf(serialPort_t *instance, uint8_t *data, uint32_t maxLen);
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate);
void serialSetMode(serialPort_t *instance, portMode_t mode);
void serialSetOptions(serialPort_t *instance, portOptions_t options);
bool isSerialTransmitBufferEmpty(const serialPort_t *instance);
void serialPrint(serialPort_t *instance, const char *str);
uint32_t serialGetBaudRate(serialPort_t *instance);
bool serialIsConnected(const serialPort_t *instance);
bool serialIsIdle(serialPort_t *instance);

// A shim that adapts the bufWriter API to the serialWriteBuf() API.
void serialWriteBufShim(void *instance, const uint8_t *data, int count);
void serialBeginWrite(serialPort_t *instance);
void serialEndWrite(serialPort_t *instance);