#pragma once #include "AP_HAL_Linux.h" #include "UARTDriver.h" namespace Linux { class SPIUARTDriver : public UARTDriver { public: SPIUARTDriver(); void begin(uint32_t b, uint16_t rxS, uint16_t txS); void _timer_tick(void); protected: int _write_fd(const uint8_t *buf, uint16_t n); int _read_fd(uint8_t *buf, uint16_t n); AP_HAL::OwnPtr _dev; uint8_t *_buffer; uint32_t _last_update_timestamp; bool _external; }; }