mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.1 KiB
C
52 lines
1.1 KiB
C
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/*
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* UART_PPM.cpp --- fake UART to get serial data from PPM inputs
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*
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*/
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#pragma once
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#include "AP_HAL_F4Light.h"
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#include "Scheduler.h"
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#include <AP_HAL/UARTDriver.h>
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#define USART_PPM_BUF_SIZE 256
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class F4Light::UART_PPM : public AP_HAL::UARTDriver {
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public:
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UART_PPM(uint8_t n);
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/* F4Light implementations of UARTDriver virtual methods */
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void begin(uint32_t b);
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void inline begin(uint32_t b, uint16_t rxS, uint16_t txS) { begin(b); }
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void inline end() { }
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void flush() {}
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bool inline 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 0; }
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uint32_t available() override;
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int16_t read() override;
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uint32_t inline txspace() override { return 0; } // can't TX
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size_t write(uint8_t c) { return 1; }
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size_t write(const uint8_t *buffer, size_t size) { return size; }
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static void putch(uint8_t c, uint8_t n);
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private:
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bool _initialized;
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bool _blocking;
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uint8_t _id;
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static ring_buffer ppm_rxrb[2] IN_CCM;
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static uint8_t rx_buf[2][USART_PPM_BUF_SIZE] IN_CCM;
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};
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