mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.0 KiB
C
50 lines
1.0 KiB
C
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#pragma once
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#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
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#include <gpio_hal.h>
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//#include <usb.h> can't include here because defines there conflicts with AP_Math
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#include <usart.h>
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#define DEFAULT_TX_TIMEOUT 10000
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extern "C" {
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extern int usb_open(void);
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extern int usb_close(void);
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uint32_t usb_data_available(void);
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void usb_reset_rx();
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}
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namespace F4Light {
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class USBDriver : public AP_HAL::UARTDriver {
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public:
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USBDriver(bool usb);
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void begin(uint32_t b);
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void begin(uint32_t b, uint16_t rxS, uint16_t txS) { begin(b); }
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inline void end() { usb_close(); }
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inline bool is_initialized(){ return _initialized; }
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inline void set_blocking_writes(bool blocking) { _blocking=blocking; }
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inline bool tx_pending() { return false; } // not used
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void flush() { return; };
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uint32_t available() override;
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uint32_t txspace() override;
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int16_t read() override;
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size_t write(uint8_t c);
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size_t write(const uint8_t *buffer, size_t size);
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private:
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bool _initialized;
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bool _blocking;
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};
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} // namespace
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