mirror of
https://github.com/BotChain-Robots/firmware.git
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60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
#ifndef SOFT_UART_MANAGER_H
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#define SOFT_UART_MANAGER_H
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#include "IPhysicalLayer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "driver/uart.h"
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#include "driver/gpio.h"
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#include "soc/gpio_num.h"
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#include <cstdint>
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#include <cstddef>
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#define SUART_NUM_CHANNELS 3
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#define SUART_BAUD_RATE 115200
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#define SUART_RX_BUF_SIZE 1024
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#define SUART_TX_DONE_WAIT_TICKS pdMS_TO_TICKS(5000)
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#define SUART_CHANNEL_NOT_READY 0x0
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#define SUART_CHANNEL_READY 0x1
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#define SUART_CHANNEL_LISTENING 0x2
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typedef struct {
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uart_port_t port;
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gpio_num_t tx_gpio;
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gpio_num_t rx_gpio;
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uint8_t status;
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SemaphoreHandle_t tx_done_sem;
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} hw_channel_t;
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class SoftUARTManager : public IPhysicalLayer {
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public:
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explicit SoftUARTManager(uint8_t num_channels);
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~SoftUARTManager() override;
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esp_err_t send(uint8_t* data, size_t size, void* config, uint8_t channel_num) override;
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esp_err_t receive(uint8_t* recv_buf, size_t size, size_t* output_size, uint8_t channel_num) override;
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esp_err_t start_receiving(uint8_t channel_num) override;
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esp_err_t wait_until_send_complete(uint8_t channel_num) override;
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private:
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uint8_t num_channels;
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hw_channel_t hw[SUART_NUM_CHANNELS];
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uint8_t ch_status[SUART_NUM_CHANNELS];
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esp_err_t init_hw_channel(uint8_t idx);
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void deinit_hw_channel(uint8_t idx);
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esp_err_t send_hw(uint8_t idx, uint8_t* data, size_t size);
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esp_err_t receive_hw(uint8_t idx, uint8_t* buf, size_t size, size_t* out);
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static constexpr gpio_num_t HW_TX[SUART_NUM_CHANNELS] = { GPIO_NUM_4, GPIO_NUM_5, GPIO_NUM_11 };
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static constexpr gpio_num_t HW_RX[SUART_NUM_CHANNELS] = { GPIO_NUM_3, GPIO_NUM_6, GPIO_NUM_12 };
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static constexpr uart_port_t HW_PORT[SUART_NUM_CHANNELS] = { UART_NUM_0, UART_NUM_1, UART_NUM_2 };
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};
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#endif // SOFT_UART_MANAGER_H
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