ardupilot/libraries/AP_HAL_Linux/SPIUARTDriver.h

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#pragma once
#include "AP_HAL_Linux.h"
#include "UARTDriver.h"
class Linux::SPIUARTDriver : public Linux::UARTDriver {
public:
SPIUARTDriver();
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
void _timer_tick(void);
protected:
int _write_fd(const uint8_t *buf, uint16_t n);
int _read_fd(uint8_t *buf, uint16_t n);
private:
bool sem_take_nonblocking();
void sem_give();
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
uint32_t _last_update_timestamp;
uint8_t *_buffer;
bool _external;
};