mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.0 KiB
C++
60 lines
2.0 KiB
C++
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#ifndef __AP_HAL_UART_DRIVER_H__
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#define __AP_HAL_UART_DRIVER_H__
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#include <stdint.h>
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#include <AP_Common/AP_Common.h>
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#include "AP_HAL_Namespace.h"
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#include "utility/BetterStream.h"
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/* Pure virtual UARTDriver class */
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class AP_HAL::UARTDriver : public AP_HAL::BetterStream {
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public:
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UARTDriver() {}
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virtual void begin(uint32_t baud) = 0;
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/// Extended port open method
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///
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/// Allows for both opening with specified buffer sizes, and re-opening
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/// to adjust a subset of the port's settings.
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///
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/// @note Buffer sizes greater than ::_max_buffer_size will be rounded
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/// down.
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///
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/// @param baud Selects the speed that the port will be
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/// configured to. If zero, the port speed is left
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/// unchanged.
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/// @param rxSpace Sets the receive buffer size for the port. If zero
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/// then the buffer size is left unchanged if the port
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/// is open, or set to ::_default_rx_buffer_size if it is
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/// currently closed.
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/// @param txSpace Sets the transmit buffer size for the port. If zero
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/// then the buffer size is left unchanged if the port
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/// is open, or set to ::_default_tx_buffer_size if it
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/// is currently closed.
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///
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virtual void begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace) = 0;
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virtual void end() = 0;
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virtual void flush() = 0;
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virtual bool is_initialized() = 0;
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virtual void set_blocking_writes(bool blocking) = 0;
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virtual bool tx_pending() = 0;
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enum flow_control {
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FLOW_CONTROL_DISABLE=0, FLOW_CONTROL_ENABLE=1, FLOW_CONTROL_AUTO=2
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};
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virtual void set_flow_control(enum flow_control flow_control_setting) {};
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virtual enum flow_control get_flow_control(void) { return FLOW_CONTROL_DISABLE; };
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/* Implementations of BetterStream virtual methods. These are
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* provided by AP_HAL to ensure consistency between ports to
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* different boards
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*/
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void printf(const char *s, ...) FORMAT(2, 3);
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void vprintf(const char *s, va_list ap);
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};
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#endif // __AP_HAL_UART_DRIVER_H__
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