mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.5 KiB
C++
138 lines
3.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_HAL_QURT.h"
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#include "Semaphores.h"
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#include <AP_HAL/utility/RingBuffer.h>
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#include "ap_host/src/protocol.h"
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class QURT::UARTDriver : public AP_HAL::UARTDriver
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{
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public:
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bool is_initialized() override;
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bool tx_pending() override;
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/* Empty implementations of Stream virtual methods */
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uint32_t txspace() override;
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virtual bool _write_pending_bytes(void)
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{
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return false;
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}
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virtual void _timer_tick(void) override;
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virtual void _fill_read_buffer(void) {}
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virtual uint32_t bw_in_bytes_per_second() const override
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{
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return 5760;
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}
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virtual enum AP_HAL::UARTDriver::flow_control get_flow_control(void) override
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{
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return AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
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}
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protected:
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virtual void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
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size_t _write(const uint8_t *buffer, size_t size) override;
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ssize_t _read(uint8_t *buffer, uint16_t size) override WARN_IF_UNUSED;
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void _end() override;
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void _flush() override;
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uint32_t _available() override;
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bool _discard_input() override;
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volatile bool _initialised;
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ByteBuffer _readbuf{0};
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ByteBuffer _writebuf{0};
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QURT::Semaphore _read_mutex;
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QURT::Semaphore _write_mutex;
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};
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/*
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subclass for console output, maps to HAP_PRINTF
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*/
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class QURT::UARTDriver_Console : public QURT::UARTDriver
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{
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public:
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using UARTDriver::UARTDriver;
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virtual void printf(const char *fmt, ...) override;
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};
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/*
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subclass for MAVLink UDP communications
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*/
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class QURT::UARTDriver_MAVLinkUDP : public QURT::UARTDriver
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{
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public:
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UARTDriver_MAVLinkUDP(uint8_t instance);
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bool _write_pending_bytes(void) override;
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void check_rx_seq(uint32_t seq);
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uint32_t bw_in_bytes_per_second() const override
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{
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return 250000 * 3;
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}
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enum AP_HAL::UARTDriver::flow_control get_flow_control(void) override
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{
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return AP_HAL::UARTDriver::FLOW_CONTROL_ENABLE;
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}
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private:
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static void _mavlink_data_cb(const struct qurt_rpc_msg *msg, void *p);
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uint8_t inst;
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uint32_t tx_seq;
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uint32_t rx_seq;
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};
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/*
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subclass for local UART communications
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*/
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class QURT::UARTDriver_Local : public QURT::UARTDriver
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{
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public:
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UARTDriver_Local(uint8_t _port_id) : port_id(_port_id) {}
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uint32_t bw_in_bytes_per_second() const override
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{
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return baudrate?baudrate/10:5760;
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}
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bool _write_pending_bytes(void) override;
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void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
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void _fill_read_buffer(void) override;
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uint32_t get_baud_rate() const override
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{
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return baudrate;
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}
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/*
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return timestamp estimate in microseconds for when the start of
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a nbytes packet arrived on the uart.
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*/
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uint64_t receive_time_constraint_us(uint16_t nbytes) override;
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private:
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const uint8_t port_id;
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int fd = -1;
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uint32_t baudrate;
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uint64_t receive_timestamp_us;
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};
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