cf934cf6b7
- Add callback_task with ISR-based UART command parser (@command\n protocol) - Add log_printf with mutex protection to prevent printf interleaving - Add per-motor enable/disable (motor enable yaw|pitch) - Add PID tuning via UART (pid roll kp 15) - Add cmd_parser module (registration + tokenize + dispatch) - Add UART layer architecture (interface → HAL → BSP) - Add filter modules (lowpass, moving_average, notch, rate_limiter) - Rewrite I2C bus and UART bus modules - Rewrite PID controller and MF4010V2 motor driver - Fix soft I2C driver Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
77 lines
1.5 KiB
C
77 lines
1.5 KiB
C
#include "uart.h"
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int uart_init(uart_t *uart, int ch, const uart_config_t *cfg)
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{
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if (!uart || !cfg)
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return -1;
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uart->ch = ch;
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uart->config = *cfg;
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int ret = uart_if_init(ch, cfg);
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if (ret == 0)
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uart->initialized = 1;
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return ret;
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}
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int uart_deinit(uart_t *uart)
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{
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if (!uart || !uart->initialized)
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return -1;
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int ret = uart_if_deinit(uart->ch);
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if (ret == 0)
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uart->initialized = 0;
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return ret;
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}
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int uart_send(uart_t *uart, const uint8_t *data, size_t size, uint32_t timeout)
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{
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if (!uart || !uart->initialized || !data)
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return -1;
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return uart_if_send(uart->ch, data, size, timeout);
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}
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int uart_receive(uart_t *uart, uint8_t *data, size_t size, uint32_t timeout)
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{
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if (!uart || !uart->initialized || !data)
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return -1;
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return uart_if_receive(uart->ch, data, size, timeout);
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}
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int uart_send_it(uart_t *uart, const uint8_t *data, size_t size)
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{
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if (!uart || !uart->initialized || !data)
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return -1;
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return uart_if_send_it(uart->ch, data, size);
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}
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int uart_receive_it(uart_t *uart, uint8_t *data, size_t size)
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{
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if (!uart || !uart->initialized || !data)
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return -1;
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return uart_if_receive_it(uart->ch, data, size);
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}
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int uart_putc(uart_t *uart, uint8_t c)
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{
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if (!uart || !uart->initialized)
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return -1;
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return uart_if_putc(uart->ch, c);
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}
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int uart_getc(uart_t *uart, uint8_t *c)
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{
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if (!uart || !uart->initialized || !c)
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return -1;
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return uart_if_getc(uart->ch, c);
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}
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