ardupilot/libraries/AP_HAL_F4Light/UARTDriver.h

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C
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#pragma once
#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
#include <usart.h>
#include <gpio_hal.h>
#include <hal.h>
#include "Scheduler.h"
#define DEFAULT_TX_TIMEOUT 10000 // in uS - 10ms
enum UART_STOP_BITS {
UART_Stop_Bits_1 = ((uint16_t)0x0000),
UART_Stop_Bits_0_5= ((uint16_t)0x1000),
UART_Stop_Bits_2 = ((uint16_t)0x2000),
UART_Stop_Bits_1_5= ((uint16_t)0x3000),
};
enum UART_PARITY {
UART_Parity_No = ((uint16_t)0x0000),
UART_Parity_Even = ((uint16_t)0x0400),
UART_Parity_Odd = ((uint16_t)0x0600),
};
class F4Light::UARTDriver : public AP_HAL::UARTDriver {
public:
UARTDriver(const struct usart_dev *usart);
inline void begin(uint32_t b){
begin(b, (UART_Parity_No <<16) | UART_Stop_Bits_1);
}
void begin(uint32_t b, uint32_t mode); // must be
inline void begin(uint32_t b, uint16_t rxS, uint16_t txS) { begin(b); }
inline void end() { _initialized=false; if(_usart_device) usart_disable(_usart_device); }
void flush();
inline bool is_initialized(){ return _initialized; }
inline void set_blocking_writes(bool blocking) { _blocking = blocking; }
inline bool tx_pending() { return usart_txfifo_nbytes(_usart_device) > 0; }
inline void setCallback(Handler cb) { usart_set_callback(_usart_device, cb); }
uint32_t available() override;
uint32_t inline txspace() override { return usart_txfifo_freebytes(_usart_device); }
int16_t read() override;
size_t write(uint8_t c);
size_t write(const uint8_t *buffer, size_t size);
inline void disable(){ _usart_device = NULL; } // pins used for another needs
uint64_t receive_time_constraint_us(uint16_t nbytes) override;
void update_timestamp();
private:
const struct usart_dev *_usart_device;
bool _initialized;
bool _blocking;
uint32_t _baudrate;
uint32_t _receive_timestamp[2];
uint8_t _time_idx;
};