mirror of https://github.com/ArduPilot/ardupilot
AP_Networking: added SLIP support
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parent
1627f7f61a
commit
e2dac53fca
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@ -14,6 +14,7 @@ extern const AP_HAL::HAL& hal;
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#if AP_NETWORKING_BACKEND_CHIBIOS
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#if AP_NETWORKING_BACKEND_CHIBIOS
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#include "AP_Networking_ChibiOS.h"
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#include "AP_Networking_ChibiOS.h"
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#include "AP_Networking_SLIP.h"
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#include <hal_mii.h>
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#include <hal_mii.h>
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#include <lwip/sockets.h>
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#include <lwip/sockets.h>
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#else
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#else
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@ -22,6 +23,10 @@ extern const AP_HAL::HAL& hal;
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#include <AP_HAL/utility/Socket.h>
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#include <AP_HAL/utility/Socket.h>
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#if AP_NETWORKING_BACKEND_SLIP
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#include "AP_Networking_SLIP.h"
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#endif
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#if AP_NETWORKING_BACKEND_SITL
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#if AP_NETWORKING_BACKEND_SITL
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#include "AP_Networking_SITL.h"
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#include "AP_Networking_SITL.h"
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#endif
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#endif
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@ -124,11 +129,21 @@ void AP_Networking::init()
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}
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}
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#endif
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#endif
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#if AP_NETWORKING_BACKEND_SLIP
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if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
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backend = new AP_Networking_SLIP(*this);
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}
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#endif
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#if AP_NETWORKING_BACKEND_CHIBIOS
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#if AP_NETWORKING_BACKEND_CHIBIOS
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backend = new AP_Networking_ChibiOS(*this);
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if (backend == nullptr) {
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backend = new AP_Networking_ChibiOS(*this);
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}
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#endif
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#endif
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#if AP_NETWORKING_BACKEND_SITL
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#if AP_NETWORKING_BACKEND_SITL
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backend = new AP_Networking_SITL(*this);
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if (backend == nullptr) {
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backend = new AP_Networking_SITL(*this);
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}
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#endif
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#endif
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if (backend == nullptr) {
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if (backend == nullptr) {
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@ -374,15 +389,16 @@ AP_Networking &network()
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*/
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*/
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int ap_networking_printf(const char *fmt, ...)
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int ap_networking_printf(const char *fmt, ...)
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{
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{
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#ifdef AP_NETWORKING_LWIP_DEBUG_PORT
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#if AP_NETWORKING_LWIP_DEBUG_PORT >= 0
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static AP_HAL::UARTDriver *uart;
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static AP_HAL::UARTDriver *uart;
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if (uart == nullptr) {
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if (uart == nullptr) {
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uart = hal.serial(AP_NETWORKING_LWIP_DEBUG_PORT);
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uart = hal.serial(AP_NETWORKING_LWIP_DEBUG_PORT);
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if (uart == nullptr) {
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if (uart == nullptr) {
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return -1;
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return -1;
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}
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}
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uart->begin(921600, 0, 50000);
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uart->begin(AP_NETWORKING_LWIP_DEBUG_BAUD, 1000, 50000);
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}
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}
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uart->begin(0);
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va_list ap;
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va_list ap;
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va_start(ap, fmt);
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va_start(ap, fmt);
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uart->vprintf(fmt, ap);
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uart->vprintf(fmt, ap);
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@ -19,7 +19,7 @@ public:
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CLASS_NO_COPY(AP_Networking_Backend);
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CLASS_NO_COPY(AP_Networking_Backend);
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virtual bool init() = 0;
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virtual bool init() = 0;
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virtual void update() = 0;
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virtual void update() {};
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protected:
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protected:
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AP_Networking &frontend;
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AP_Networking &frontend;
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@ -22,6 +22,11 @@
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// ---------------------------
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// ---------------------------
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#ifndef AP_NETWORKING_BACKEND_CHIBIOS
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#ifndef AP_NETWORKING_BACKEND_CHIBIOS
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#define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
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#define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
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#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
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#endif
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#ifndef AP_NETWORKING_BACKEND_SLIP
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#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
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#endif
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#endif
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#ifndef AP_NETWORKING_BACKEND_SITL
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#ifndef AP_NETWORKING_BACKEND_SITL
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@ -16,7 +16,6 @@ public:
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bool init() override {
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bool init() override {
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return true;
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return true;
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}
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}
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void update() override {}
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};
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};
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#endif // AP_NETWORKING_BACKEND_SITL
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#endif // AP_NETWORKING_BACKEND_SITL
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@ -0,0 +1,99 @@
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#include "AP_Networking_Config.h"
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#if AP_NETWORKING_BACKEND_SLIP
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#include "AP_Networking_SLIP.h"
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#include <GCS_MAVLink/GCS.h>
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#include <lwipthread.h>
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#include <lwip/udp.h>
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#include <lwip/ip_addr.h>
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#include <lwip/sio.h>
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#include <lwip/tcpip.h>
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#include <netif/slipif.h>
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extern const AP_HAL::HAL& hal;
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AP_HAL::UARTDriver *AP_Networking_SLIP::uart;
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/*
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initialise SLIP network backend using LWIP
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*/
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bool AP_Networking_SLIP::init()
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{
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uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLIP, 0);
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if (uart == nullptr) {
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return false;
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}
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uart->set_unbuffered_writes(true);
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slipif = new netif;
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if (slipif == nullptr) {
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return false;
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}
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// no dynamic IPs for SLIP
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activeSettings.ip = frontend.get_ip_param();
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activeSettings.gw = frontend.get_gateway_param();
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activeSettings.nm = frontend.get_netmask_param();
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activeSettings.last_change_ms = AP_HAL::millis();
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const ip4_addr_t ipaddr {htonl(activeSettings.ip)};
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const ip4_addr_t netmask {htonl(activeSettings.nm)};
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const ip4_addr_t gw {htonl(activeSettings.gw)};
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tcpip_init(NULL, NULL);
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hal.scheduler->delay(100);
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netif_add(slipif,
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&ipaddr, &netmask, &gw,
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&num_slip, slipif_init, ip_input);
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netif_set_default(slipif);
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slipif->mtu = 296;
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netif_set_link_up(slipif);
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netif_set_up(slipif);
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_SLIP::slip_loop, void),
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"slip",
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8192, AP_HAL::Scheduler::PRIORITY_UART, -1);
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return true;
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}
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/*
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main loop for SLIP
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*/
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void AP_Networking_SLIP::slip_loop(void)
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{
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uart->begin(0);
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hal.scheduler->delay(100);
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while (true) {
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slipif_poll(slipif);
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hal.scheduler->delay_microseconds(100);
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}
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}
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void sio_send(uint8_t c, void *fd)
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{
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auto *uart = (AP_HAL::UARTDriver *)fd;
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uart->write(c);
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}
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sio_fd_t sio_open(uint8_t dev)
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{
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return AP_Networking_SLIP::uart;
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}
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u32_t sio_tryread(sio_fd_t fd, u8_t *data, u32_t len)
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{
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auto *uart = (AP_HAL::UARTDriver *)fd;
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uart->begin(0);
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const auto ret = uart->read(data, len);
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if (ret <= 0) {
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return 0;
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}
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return ret;
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}
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#endif // AP_NETWORKING_BACKEND_SLIP
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@ -0,0 +1,27 @@
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#pragma once
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#include "AP_Networking_Config.h"
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#ifdef AP_NETWORKING_BACKEND_SLIP
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#include "AP_Networking_Backend.h"
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class AP_Networking_SLIP : public AP_Networking_Backend
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{
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public:
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using AP_Networking_Backend::AP_Networking_Backend;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Networking_SLIP);
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bool init() override;
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static AP_HAL::UARTDriver *uart;
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private:
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void slip_loop(void);
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struct netif *slipif;
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uint8_t num_slip;
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};
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#endif // AP_NETWORKING_BACKEND_SLIP
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