/home/travis/build/lis-epfl/MAVRIC_Library/hal/chibios/serial_chibios.hpp

/*******************************************************************************
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/*******************************************************************************
 * \file    serial_chibios.hpp
 *
 * \author  MAV'RIC Team
 *
 * \brief   Implementation of serial peripheral using ChibiOS
 *
 ******************************************************************************/

#ifndef SERIAL_CHIBIOS_HPP_
#define SERIAL_CHIBIOS_HPP_

#include "hal/common/serial.hpp"

extern "C"
{
#include "libs/ChibiOS/os/hal/include/hal.h"
}

#include "util/buffer.hpp"


class Serial_chibios: public Serial
{
public:
    typedef enum
    {
        SERIAL_1          = 0,
        SERIAL_2          = 1,
        SERIAL_3          = 2,
        SERIAL_4          = 3,
        SERIAL_5          = 4,
        SERIAL_6          = 5,
        SERIAL_MAX_NUMBER = 6
    } devices_t;

    struct conf_t
    {
        devices_t   id;
        UARTDriver* device;
        uint32_t    baudrate;
    };

    Serial_chibios(conf_t config);


    bool init(void);


    uint32_t readable(void);


    uint32_t writeable(void);


    void flush(void);


    bool attach(serial_interrupt_callback_t func);


    bool write(const uint8_t* bytes, const uint32_t size = 1);


    bool read(uint8_t* bytes, const uint32_t size = 1);


    void rx_irq_handler(uint16_t c);


    void tx_irq_handler(void);


private:
    conf_t            config_;            
    Buffer_T<1024>  tx_buffer_;         
    Buffer_T<1024>  rx_buffer_;         
    bool              is_sending_;        

    serial_interrupt_callback_t irq_callback_;
};


#endif /* SERIAL_CHIBIOS_HPP_ */