mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.0 KiB
C++
59 lines
1.0 KiB
C++
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/*
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(c) 2017 night_ghost@ykoctpa.ru
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* UART_PPM.cpp --- fake UART to get serial data from PPM inputs
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*
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
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#include "UART_PPM.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <fcntl.h>
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using namespace F4Light;
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ring_buffer UART_PPM::ppm_rxrb[2] IN_CCM;
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uint8_t UART_PPM::rx_buf[2][USART_PPM_BUF_SIZE] IN_CCM;
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UART_PPM::UART_PPM(uint8_t n):
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_initialized(false),
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_blocking(true),
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_id(n)
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{
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rb_init(&ppm_rxrb[n], USART_PPM_BUF_SIZE, rx_buf[n]);
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}
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void UART_PPM::begin(uint32_t baud) {
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if(_initialized) return;
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// signal that uart connected
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_initialized = true;
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}
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uint32_t UART_PPM::available() {
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return rb_full_count(&ppm_rxrb[_id]);
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}
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int16_t UART_PPM::read() {
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if (available() <= 0) return -1;
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return rb_remove(&ppm_rxrb[_id]);
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}
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void UART_PPM::putch(uint8_t c, uint8_t n){
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/* If the buffer is full ignore new bytes. */
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rb_safe_insert(&ppm_rxrb[n], c);
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}
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#endif // CONFIG_HAL_BOARD
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