uart.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_UART_HPP_
#define TAPROOT_UART_HPP_
 
#include <cstdint>
#include <cstdlib>
 
#ifndef PLATFORM_HOSTED
#include "modm/platform.hpp"
#include "modm/platform/uart/uart_base.hpp"
#endif
 
#include "tap/board/board.hpp"
#include "tap/util_macros.hpp"
 
namespace tap::communication::serial
{
class Uart
{
public:
    enum UartPort
    {
        Uart1,
        Uart3,
        Uart6,
    };
 
#ifdef PLATFORM_HOSTED
    enum Parity
    {
        Disabled,
        Even,
        Odd
    };
#else
    using Parity = modm::platform::UartBase::Parity;
#endif
 
    Uart() = default;
    DISALLOW_COPY_AND_ASSIGN(Uart)
    mockable ~Uart() = default;
 
    template <UartPort port, modm::baudrate_t baudrate, Parity parity = Parity::Disabled>
    void init()
    {
#ifndef PLATFORM_HOSTED
        if constexpr (port == UartPort::Uart1)
        {
            modm::platform::Usart1::connect<GpioA9::Tx, GpioB7::Rx>();
            modm::platform::Usart1::initialize<Board::SystemClock, baudrate>(parity);
        }
        else if constexpr (port == UartPort::Uart3)
        {
            modm::platform::Usart3::connect<GpioC11::Rx>();
            modm::platform::Usart3::initialize<Board::SystemClock, baudrate>(parity);
        }
        else if constexpr (port == UartPort::Uart6)
        {
            modm::platform::Usart6::connect<GpioG14::Tx, GpioG9::Rx>();
            modm::platform::Usart6::initialize<Board::SystemClock, baudrate>(parity);
        }
#endif
    }
 
    mockable bool read(UartPort port, uint8_t *data);
 
    mockable std::size_t read(UartPort port, uint8_t *data, std::size_t length);
 
    mockable std::size_t discardReceiveBuffer(UartPort port);
 
    mockable bool write(UartPort port, uint8_t data);
 
    mockable std::size_t write(UartPort port, const uint8_t *data, std::size_t length);
 
    mockable bool isWriteFinished(UartPort port) const;
 
    mockable void flushWriteBuffer(UartPort port);
};
 
}  // namespace tap::communication::serial
 
#endif  // TAPROOT_UART_HPP_