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Added HAL docs, improved HAL init&locking (#218)

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This commit is contained in:
Ken Van Hoeylandt
2025-02-12 18:12:20 +01:00
committed by GitHub
parent b7f39f883d
commit 2e86d4774b
16 changed files with 333 additions and 302 deletions
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TactilityHeadless/Include/Tactility/hal/uart/Uart.h
+59 -16
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@@ -2,14 +2,17 @@
#include <Tactility/RtosCompat.h>
#include "UartCompat.h"
#include "../Gpio.h"
#include "Tactility/Lockable.h"
#include "UartCompat.h"
#include <vector>
#include <memory>
#include <vector>
namespace tt::hal::uart {
constexpr TickType_t defaultTimeout = 10 / portTICK_PERIOD_MS;
enum class InitMode {
ByTactility, // Tactility will initialize it in the correct bootup phase
ByExternal, // The device is already initialized and Tactility should assume it works
@@ -46,29 +49,69 @@ enum class Status {
Unknown
};
bool init(const std::vector<uart::Configuration>& configurations);
/** Start communications */
bool start(uart_port_t port);
/** Stop communications */
bool stop(uart_port_t port);
/** @return true when communications were successfully started */
bool isStarted(uart_port_t port);
bool lock(uart_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
bool unlock(uart_port_t port);
/** @return a lock that is usable for using ESP-IDF directly, or for use with third party APIs */
Lockable& getLock(uart_port_t port);
size_t read(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout = 10 / portTICK_PERIOD_MS);
bool readByte(uart_port_t port, uint8_t* output, TickType_t timeout = 10 / portTICK_PERIOD_MS);
size_t write(uart_port_t port, const uint8_t* buffer, size_t bufferSize, TickType_t timeout = 10 / portTICK_PERIOD_MS);
bool writeString(uart_port_t port, const char* buffer, TickType_t timeout = 10 / portTICK_PERIOD_MS);
/**
* Read up to a specified amount of bytes
* @param[in] port
* @param[out] buffer
* @param[in] bufferSize
* @param[in] timeout
* @return the amount of bytes that were read
*/
size_t readBytes(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout);
size_t available(uart_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
/** Read a single byte */
bool readByte(uart_port_t port, uint8_t* output, TickType_t timeout = defaultTimeout);
bool setBaudRate(uart_port_t port, uint32_t baudRate, TickType_t timeout = 10 / portTICK_PERIOD_MS);
/**
* Read up to a specified amount of bytes
* @param[in] port
* @param[in] buffer
* @param[in] bufferSize
* @param[in] timeout
* @return the amount of bytes that were read
*/
size_t writeBytes(uart_port_t port, const uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout);
/**
* Write a string (excluding null terminator character)
* @param[in] port
* @param[in] buffer
* @param[in] timeout
* @return the amount of bytes that were written
*/
bool writeString(uart_port_t port, const char* buffer, TickType_t timeout = defaultTimeout);
/** @return the amount of bytes available for reading */
size_t available(uart_port_t port, TickType_t timeout = defaultTimeout);
/** Set the baud rate for the specified port */
bool setBaudRate(uart_port_t port, uint32_t baudRate, TickType_t timeout = defaultTimeout);
/** Get the baud rate for the specified port */
uint32_t getBaudRate(uart_port_t port);
void flush(uart_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
void flushInput(uart_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
/** Flush input buffers */
void flushInput(uart_port_t port);
std::string readStringUntil(uart_port_t port, char untilChar, TickType_t timeout = 10 / portTICK_PERIOD_MS);
bool readUntil(uart_port_t port, uint8_t* buffer, size_t bufferSize, uint8_t untilByte, TickType_t timeout = 10 / portTICK_PERIOD_MS);
/**
* Read a buffer as a string until the specified character (the "untilChar" is included in the result)
* @warning if the input data doesn't return "untilByte" then the device goes out of memory
*/
std::string readStringUntil(uart_port_t port, char untilChar, TickType_t timeout = defaultTimeout);
/** Read a buffer as a byte array until the specified character (the "untilChar" is included in the result) */
bool readUntil(uart_port_t port, uint8_t* buffer, size_t bufferSize, uint8_t untilByte, TickType_t timeout = defaultTimeout);
} // namespace tt::hal::uart