modem.h

Go to the documentation of this file.

 
#ifndef INFUSE_SDK_DRIVERS_GNSS_UBX_MODEM_H_
#define INFUSE_SDK_DRIVERS_GNSS_UBX_MODEM_H_
 
#include <stdint.h>
 
#include <zephyr/kernel.h>
#include <zephyr/net_buf.h>
#include <zephyr/modem/pipe.h>
#include <zephyr/sys/ring_buffer.h>
 
#include <infuse/gnss/ubx/protocol.h>
 
#ifdef __cplusplus
extern "C" {
#endif


typedef int (*ubx_message_handler_t)(uint8_t message_class, uint8_t message_id, const void *payload,
                                     size_t payload_len, void *user_data);
 
#define UBX_MSG_CLASS_WILDCARD 0x00
#define UBX_MSG_ID_WILDCARD    0x00
 
enum ubx_message_handler_flags {
        /* Message results in an ACK/NAK only */
        UBX_HANDLING_ACK = BIT(0),
        /* Message results in a direct response only */
        UBX_HANDLING_RSP = BIT(1),
        /* Message results in a response AND an ACK/NAK */
        UBX_HANDLING_RSP_ACK = BIT(2),
        /* Response callback wants the raw frame */
        UBX_HANDLING_RAW_FRAME_CB = BIT(3),
};

struct ubx_message_handler_ctx {
        sys_snode_t _node;
        struct k_poll_signal *signal;
        ubx_message_handler_t message_cb;
        void *user_data;
        uint8_t message_class;
        uint8_t message_id;
        uint8_t flags;
};

struct ubx_modem_data {
        /* Pipe for communications with underlying modem */
        struct modem_pipe *pipe;
        /* Worker to read data */
        struct k_work fifo_read_worker;
        /* Notification that TX has completed */
        struct k_poll_signal tx_done;
        /* List of message handlers */
        sys_slist_t handlers;
        /* Thread protection for handlers list */
        struct k_sem handlers_sem;
        /* Data buffer to read bytes into */
        uint8_t rx_buffer[CONFIG_GNSS_U_BLOX_MAX_MSG_SIZE];
        /* Bytes pending in rx_buffer */
        uint16_t rx_buffer_pending;
};

struct ubx_modem_data *ubx_modem_data_get(const struct device *dev);

void ubx_modem_fifo_poll(const struct device *dev);

void ubx_modem_extint_control(const struct device *dev, bool high);

void ubx_modem_init(struct ubx_modem_data *modem, struct modem_pipe *pipe);

int ubx_modem_comms_reset(const struct device *dev);

void ubx_modem_software_standby(struct ubx_modem_data *modem);

void ubx_modem_msg_subscribe(struct ubx_modem_data *modem,
                             struct ubx_message_handler_ctx *handler_ctx);

void ubx_modem_msg_unsubscribe(struct ubx_modem_data *modem,
                               struct ubx_message_handler_ctx *handler_ctx);

int ubx_modem_ack_handler(uint8_t message_class, uint8_t message_id, const void *payload,
                          size_t payload_len, void *user_data);

int ubx_modem_send_async(struct ubx_modem_data *modem, struct net_buf_simple *buf,
                         struct ubx_message_handler_ctx *handler_ctx, bool wait_tx);

int ubx_modem_send_sync(struct ubx_modem_data *modem, struct net_buf_simple *buf, uint8_t flags,
                        ubx_message_handler_t handler, void *user_data, k_timeout_t timeout);

int ubx_modem_send_sync_acked(struct ubx_modem_data *modem, struct net_buf_simple *buf,
                              k_timeout_t timeout);

int ubx_modem_send_sync_poll(struct ubx_modem_data *modem, uint8_t message_class,
                             uint8_t message_id, ubx_message_handler_t handler, void *user_data,
                             k_timeout_t timeout);

int ubx_modem_send_sync_raw_poll(struct ubx_modem_data *modem, uint8_t message_class,
                                 uint8_t message_id, ubx_message_handler_t handler, void *user_data,
                                 k_timeout_t timeout);

int ubx_modem_send_async_poll(struct ubx_modem_data *modem, uint8_t message_class,
                              uint8_t message_id, uint8_t buf[8],
                              struct ubx_message_handler_ctx *handler_ctx);
 
#ifdef CONFIG_GNSS_UBX_RAW_FRAME_HANDLER

void ubx_modem_raw_frame_handler(struct ubx_frame *frame, uint16_t total_len);
 
#endif

 
#ifdef __cplusplus
}
#endif
 
#endif /* INFUSE_SDK_DRIVERS_GNSS_UBX_MODEM_H_ */