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Platform Porting

The header file related to cross-platform functionality is uav_platform.h. This document describes the key information and usage methods for the structures and function prototypes in the uav_platform.h file.

Table of Contents​

  • Macro Definitions, Enumerations, and Structures
    E_UAVHalUartBaudRate
    T_UAVHalUartHandler
    T_UAVOsalHandler
    T_UAVUartStatus
    T_UAVTime

  • Function Prototypes
    UAV_Platform_RegHalUartHandler
    UAV_Platform_RegOsalHandler
    UAV_Platform_GetOsalHandler

Macro Definitions​

/**
* @brief Platform handle of thread task operation.
*/
typedef void *T_UAVTaskHandle;

/**
* @brief Platform handle of mutex operation.
*/
typedef void *T_UAVMutexHandle;

/**
* @brief Platform handle of semaphore operation.
*/
typedef void *T_UAVSemaHandle;

/**
 * @brief Platform handle of timer operation.
 */
typedef void *T_UAVTimerHandle;

Enumerations​

typedef enum E_UAVHalUartBaudRate​

Serial port baud rate macro definition.

Note：

  • This macro definition needs to be used to initialize the baudRateIndex parameter in the serial port handle before registering the serial port.
typedef enum 
{
    UAV_BAUDRATE_115200=0,
    UAV_BAUDRATE_19200,
    UAV_BAUDRATE_230400,
    UAV_BAUDRATE_460800,
    UAV_BAUDRATE_1000000,
    UAV_BAUDRATE_2000000,
    UAV_BAUDRATE_MAX,
}E_UAVHalUartBaudRate;

Structures​

typedef struct T_UAVHalUartHandler​

Serial communication interface.

Note：

  • Before registering the communication interface, the user must implement this interface.
  • For RTOS platforms, only serial communication handles are currently supported. Users can register USB and network communication interfaces through the serial interface.
typedef struct
{
    E_UAVHalUartBaudRate baudRateIndex;
    T_UAVReturnCode (*init)(void);
    T_UAVReturnCode (*deInit)(void);
    T_UAVReturnCode (*write)(const uint8_t *buf, uint32_t len);
    T_UAVReturnCode (*read)(uint8_t *buf, uint32_t len, uint32_t *realLen);
    T_UAVReturnCode (*setBaudRate)(E_UAVHalUartBaudRate baudRateIndex);
    T_UAVReturnCode (*getStatus)(void);
    uint32_t baudRate;
}T_UAVHalUartHandler;
  • Parameters
    baudRateIndex：Serial port baud rate setting.
    init：Serial port initialization.
    deinit：Serial port de-initialization.
    write：Serial port write function.
    read：Serial port read function.
    setBaudRate：Set serial port baud rate.
    getStatus：Get current serial port status.

typedef struct T_UAVOsalHandler​

Operating System Interface.

typedef struct {
    int (*TaskCreate)(const char *name, void *(*taskFunc)(void *), uint32_t stackSize, void *arg, uint32_t priority,T_UAVTaskHandle *task);
    int (*TaskStart)(T_UAVTaskHandle task);
    int (*TaskDestroy)(T_UAVTaskHandle task);
    int (*TaskSleepMs)(uint32_t time_ms);
    int (*MutexCreate)(T_UAVMutexHandle *mutex);
    int (*MutexDestroy)(T_UAVMutexHandle mutex);
    int (*MutexLock)(T_UAVMutexHandle mutex);
    int (*MutexUnlock)(T_UAVMutexHandle mutex);
    int (*SemaphoreCreate)(uint32_t initValue, T_UAVSemaHandle *semaphore);
    int (*SemaphoreDestroy)(T_UAVSemaHandle semaphore);
    int (*SemaphoreWait)(T_UAVSemaHandle semaphore);
    int (*SemaphoreTimedWait)(T_UAVSemaHandle semaphore, uint32_t wait_time_ms);
    int (*SemaphorePost)(T_UAVSemaHandle semaphore);
    int (*GetTimeMs)(uint32_t *ms);
    int (*GetTimeUs)(uint64_t *us);
    void *(*Malloc)(uint32_t size);
    void (*Free)(void *ptr);
    int (*MsToTicks)(uint32_t ms);
    void (*TaskList)(char *list);
    uint32_t (*FreeHeapSize)(void);
} T_UAVOsalHandler;

typedef struct T_UAVUartStatus​

typedef struct 
{
    bool isConnect; 
    
}T_UAVUartStatus;

typedef struct T_UAVTime​

Date and Time

typedef struct {
    uint16_t year;
    uint8_t month;
    uint8_t day;
    uint8_t hour;
    uint8_t minute;
    uint8_t second;
} T_UAVTime;

Function Prototypes​

function UAV_Platform_RegHalUartHandler​

  • Function： Register communication interface function.
  • product： all

Register the callback function for adapting the payload device communication interface.

Note：

  • Before registering the communication interface callback function, please test that the function can properly write configuration information to the HAL layer interface.
  • Call this interface before using the payload device functions; otherwise, the payload device will not operate properly.
  • On RTOS platforms, only the T_UAVUarHalHandler interface registration is supported, and there are no separate USB or network communication interfaces.
T_UAVReturnCode UAV_Platform_RegHalUartHandler(const T_UAVHalUartHandler *halUartHandler);
  • ParameterhalUartHandler：Pointer to the payload device operating system communication interface function.
  • Return Value Outputs the corresponding return value based on the program execution status. For details, refer to: UAV Error Codes.

function UAV_Platform_RegOsalHandler​

  • Function： Register OSAL interface function.
  • product： all
T_UAVReturnCode UAV_Platform_RegOsalHandler(const T_UAVOsalHandler *osalHandler);
  • ParameterosalHandler：Pointer to the platform's OSAL interface handler.
  • Return Value Outputs the corresponding return value based on the program execution status. For details, refer to: UAV Error Codes.

function UAV_Platform_GetOsalHandler​

  • Function： Get the OSAL interface handler.
  • product： all
T_UAVOsalHandler *UAV_Platform_GetOsalHandler(void);
  • Parameternone：
  • Return ValueT_UAVOsalHandler * ：OSAL handler,=0 if retrieval fails.