osdk_platform.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef OSDK_PLATFORM_H
#define OSDK_PLATFORM_H

/* Includes ------------------------------------------------------------------*/
#ifdef __linux__
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#endif
#include "osdk_typedef.h"

#define OSDK_TASK_STACK_SIZE_DEFAULT 1024

#ifdef __cplusplus
extern "C" {
#endif

//#define OS_DEBUG

/* Exported constants --------------------------------------------------------*/
typedef void *T_OsdkTaskHandle;
typedef void *T_OsdkMutexHandle;
typedef void *T_OsdkSemHandle;

typedef struct {
    int fd;
}T_UartObj;

#ifdef __linux__
typedef struct {
    void* handle;
    uint16_t epIn;
    uint16_t epOut;
}T_UsbBulkObj;
#endif

typedef struct {
    union {
        T_UartObj uartObject;
#ifdef __linux__
        T_UsbBulkObj bulkObject;
#endif
    };
}T_HalObj;

/* Exported types ------------------------------------------------------------*/
typedef struct {
    E_OsdkStat (*UartInit)(const char *port, const int baudrate, T_HalObj *obj);

    E_OsdkStat (*UartWriteData)(const T_HalObj *obj, const uint8_t *pBuf, uint32_t bufLen);

    E_OsdkStat (*UartReadData)(const T_HalObj *obj, uint8_t *pBuf, uint32_t *bufLen);

    E_OsdkStat (*UartClose)(T_HalObj *obj);
} T_OsdkHalUartHandler;

#ifdef __linux__
typedef struct {
  E_OsdkStat (*USBBulkInit)(uint16_t pid, uint16_t vid, uint16_t num, uint16_t epIn, uint16_t epOut, T_HalObj *obj);

  E_OsdkStat (*USBBulkWriteData)(const T_HalObj *obj, const uint8_t *pBuf, uint32_t bufLen);

  E_OsdkStat (*USBBulkReadData)(const T_HalObj *obj, uint8_t *pBuf, uint32_t *bufLen);

  E_OsdkStat (*USBBulkClose)(T_HalObj *obj);
} T_OsdkHalUSBBulkHandler;
#endif

typedef struct {
    E_OsdkStat (*TaskCreate)(T_OsdkTaskHandle *task, void *(*taskFunc)(void *), uint32_t stackSize, void *arg);

    E_OsdkStat (*TaskDestroy)(T_OsdkTaskHandle task);

    E_OsdkStat (*TaskSleepMs)(uint32_t timeMs);

    E_OsdkStat (*MutexCreate)(T_OsdkMutexHandle *mutex);

    E_OsdkStat (*MutexDestroy)(T_OsdkMutexHandle mutex);

    E_OsdkStat (*MutexLock)(T_OsdkMutexHandle mutex);

    E_OsdkStat (*MutexUnlock)(T_OsdkMutexHandle mutex);

    E_OsdkStat (*SemaphoreCreate)(T_OsdkSemHandle *semaphore, uint32_t initValue);

    E_OsdkStat (*SemaphoreDestroy)(T_OsdkSemHandle semaphore);

    E_OsdkStat (*SemaphoreWait)(T_OsdkSemHandle semaphore);

    E_OsdkStat (*SemaphoreTimedWait)(T_OsdkSemHandle semaphore, uint32_t waitTimeMs);

    E_OsdkStat (*SemaphorePost)(T_OsdkSemHandle semaphore);

    E_OsdkStat (*GetTimeMs)(uint32_t *ms);

#ifdef OS_DEBUG
    E_OsdkStat (*GetTimeUs)(uint64_t *us);
#endif

    void *(*Malloc)(uint32_t size);

    void (*Free)(void *ptr);
} T_OsdkOsalHandler;

/* Exported functions --------------------------------------------------------*/
E_OsdkStat OsdkPlatform_RegHalUartHandler(const T_OsdkHalUartHandler *halUartHandler);

#ifdef __linux__

E_OsdkStat OsdkPlatform_RegHalUSBBulkHandler(const T_OsdkHalUSBBulkHandler *halUSBBulkHandler);
#endif

E_OsdkStat OsdkPlatform_RegOsalHandler(const T_OsdkOsalHandler *osalHandler);

E_OsdkStat OsdkOsal_TaskCreate(T_OsdkTaskHandle *task, void *(*taskFunc)(void *),
                                     uint32_t stackSize, void *arg);

E_OsdkStat OsdkOsal_TaskDestroy(T_OsdkTaskHandle task);

E_OsdkStat OsdkOsal_TaskSleepMs(uint32_t timeMs);

E_OsdkStat OsdkOsal_MutexCreate(T_OsdkMutexHandle *mutex);

E_OsdkStat OsdkOsal_MutexDestroy(T_OsdkMutexHandle mutex);

E_OsdkStat OsdkOsal_MutexLock(T_OsdkMutexHandle mutex);

E_OsdkStat OsdkOsal_MutexUnlock(T_OsdkMutexHandle mutex);

E_OsdkStat OsdkOsal_SemaphoreCreate(T_OsdkSemHandle *semaphore, uint32_t initValue);

E_OsdkStat OsdkOsal_SemaphoreDestroy(T_OsdkSemHandle semaphore);

E_OsdkStat OsdkOsal_SemaphoreWait(T_OsdkSemHandle semaphore);

E_OsdkStat OsdkOsal_SemaphoreTimedWait(T_OsdkSemHandle semaphore, uint32_t waitTimeMs);

E_OsdkStat OsdkOsal_SemaphorePost(T_OsdkSemHandle semaphore);

E_OsdkStat OsdkOsal_GetTimeMs(uint32_t *ms);

#ifdef OS_DEBUG
E_OsdkStat OsdkOsal_GetTimeUs(uint64_t *us);
#endif

void *OsdkOsal_Malloc(uint32_t size);

void OsdkOsal_Free(void *ptr);

#ifdef __cplusplus
}
#endif

#endif // OSDK_PLATFORM_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/