ubx.h

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/*
 * Copyright (c) 2024 NXP
 * Copyright (c) 2025 Croxel Inc.
 * Copyright (c) 2025 CogniPilot Foundation
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#include <zephyr/kernel.h>
#include <zephyr/types.h>
#include <zephyr/sys/atomic.h>
 
#include <zephyr/modem/pipe.h>
#include <zephyr/modem/ubx/protocol.h>
 
#ifndef ZEPHYR_MODEM_UBX_
#define ZEPHYR_MODEM_UBX_
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct modem_ubx;
 
typedef void (*modem_ubx_match_callback)(struct modem_ubx *ubx,
                                         const struct ubx_frame *frame,
                                         size_t len,
                                         void *user_data);
 
struct modem_ubx_match {
        struct ubx_frame_match filter;
        modem_ubx_match_callback handler;
};
 
#define MODEM_UBX_MATCH_ARRAY_DEFINE(_name, ...)                                                   \
        struct modem_ubx_match _name[] = {__VA_ARGS__};
 
#define MODEM_UBX_MATCH_DEFINE(_class_id, _msg_id, _handler)                                       \
{                                                                                                  \
        .filter = {                                                                                \
                .class = _class_id,                                                                \
                .id = _msg_id,                                                                     \
        },                                                                                         \
        .handler = _handler,                                                                       \
}
 
struct modem_ubx_script {
        struct {
                const void *buf;
                uint16_t len;
        } request;
        struct {
                uint8_t *buf;
                uint16_t buf_len;
                uint16_t received_len;
        } response;
        struct modem_ubx_match match;
        uint16_t retry_count;
        k_timeout_t timeout;
};
 
struct modem_ubx {
        void *user_data;
        atomic_t attached;
        uint8_t *receive_buf;
        uint16_t receive_buf_size;
        uint16_t receive_buf_offset;
        struct modem_ubx_script *script;
        struct modem_pipe *pipe;
        struct k_work process_work;
        struct k_sem script_stopped_sem;
        struct k_sem script_running_sem;
        struct {
                const struct modem_ubx_match *array;
                size_t size;
        } unsol_matches;
};
 
struct modem_ubx_config {
        void *user_data;
        uint8_t *receive_buf;
        uint16_t receive_buf_size;
        struct {
                const struct modem_ubx_match *array;
                size_t size;
        } unsol_matches;
};
 
int modem_ubx_attach(struct modem_ubx *ubx, struct modem_pipe *pipe);
 
void modem_ubx_release(struct modem_ubx *ubx);
 
int modem_ubx_init(struct modem_ubx *ubx, const struct modem_ubx_config *config);
 
int modem_ubx_run_script(struct modem_ubx *ubx, struct modem_ubx_script *script);
 
int modem_ubx_run_script_for_each(struct modem_ubx *ubx, struct modem_ubx_script *script,
                                  struct ubx_frame *array, size_t array_size);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_MODEM_UBX_ */