mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.6 KiB
C
61 lines
1.6 KiB
C
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/*
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* Console.h --- AP_HAL_SMACCM console driver.
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*
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* Copyright (C) 2012, Galois, Inc.
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* All Rights Reserved.
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*
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* This software is released under the "BSD3" license. Read the file
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* "LICENSE" for more information.
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*/
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#ifndef __AP_HAL_SMACCM_CONSOLE_H__
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#define __AP_HAL_SMACCM_CONSOLE_H__
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#include <AP_HAL_SMACCM.h>
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class SMACCM::SMACCMConsoleDriver : public AP_HAL::ConsoleDriver {
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public:
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SMACCMConsoleDriver(AP_HAL::BetterStream* delegate);
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void init(void *arg);
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void backend_open();
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void backend_close();
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size_t backend_read(uint8_t *data, size_t len);
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size_t backend_write(const uint8_t *data, size_t len);
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void print_P(const prog_char_t *pstr);
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void println_P(const prog_char_t *pstr);
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void printf(const char *pstr, ...);
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void _printf_P(const prog_char *pstr, ...);
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void vprintf(const char *pstr, va_list ap);
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void vprintf_P(const prog_char *pstr, va_list ap);
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int16_t available();
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int16_t txspace();
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int16_t read();
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size_t write(uint8_t c);
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private:
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AP_HAL::BetterStream *_d;
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// Buffer implementation copied from the AVR HAL.
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struct Buffer {
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/* public methods:*/
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bool allocate(uint16_t size);
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bool push(uint8_t b);
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int16_t pop();
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uint16_t bytes_free();
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uint16_t bytes_used();
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private:
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uint16_t _head, _tail; /* Head and tail indicies */
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uint16_t _mask; /* Buffer size mask for index wrap */
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uint8_t *_bytes; /* Pointer to allocated buffer */
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};
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Buffer _txbuf;
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Buffer _rxbuf;
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bool _user_backend;
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};
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#endif // __AP_HAL_SMACCM_CONSOLE_H__
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