mirror of https://github.com/ArduPilot/ardupilot
33 lines
687 B
C
33 lines
687 B
C
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#ifndef __AP_HAL_LINUX_SPIUARTDRIVER_H__
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#define __AP_HAL_LINUX_SPIUARTDRIVER_H__
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#include <AP_HAL_Linux.h>
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#include "UARTDriver.h"
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class Linux::LinuxSPIUARTDriver : public Linux::LinuxUARTDriver {
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public:
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LinuxSPIUARTDriver();
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void _timer_tick(void);
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protected:
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int _write_fd(const uint8_t *buf, uint16_t n);
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int _read_fd(uint8_t *buf, uint16_t n);
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private:
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bool sem_take_nonblocking();
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void sem_give();
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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uint32_t _last_update_timestamp;
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uint8_t *_buffer;
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bool _external;
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};
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#endif //__AP_HAL_LINUX_SPIUARTDRIVER_H__
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