mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.5 KiB
C++
60 lines
1.5 KiB
C++
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#ifndef __AP_HAL_AVR_CONSOLE_DRIVER_H__
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#define __AP_HAL_AVR_CONSOLE_DRIVER_H__
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#include <stdlib.h>
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#include <AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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class AP_HAL_AVR::AVRConsoleDriver : public AP_HAL::ConsoleDriver {
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public:
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AVRConsoleDriver();
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void init(void* baseuartdriver);
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void backend_open();
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void backend_close();
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int backend_read(uint8_t *data, int len);
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int backend_write(const uint8_t *data, int len);
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/* Implementations of BetterStream virtual methods */
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void print_P(const prog_char_t *s);
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void println_P(const prog_char_t *s);
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void printf(const char *s, ...)
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__attribute__ ((format(__printf__, 2, 3)));
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void _printf_P(const prog_char *s, ...)
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__attribute__ ((format(__printf__, 2, 3)));
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/* Implementations of Stream virtual methods */
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int available();
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int txspace();
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int read();
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int peek();
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/* Implementations of Print virtual methods */
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size_t write(uint8_t c);
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private:
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struct Buffer {
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/* public methods:*/
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bool allocate(int size);
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bool push(uint8_t b);
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int pop();
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int peek();
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uint16_t bytes_free();
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uint16_t bytes_used();
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private:
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uint16_t _head, _tail; /* Head and tail indicies */
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uint16_t _mask; /* Buffer size mask for index wrap */
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uint8_t *_bytes; /* Pointer to allocated buffer */
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};
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Buffer _txbuf;
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Buffer _rxbuf;
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AP_HAL::UARTDriver* _base_uart;
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bool _user_backend;
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};
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#endif // __AP_HAL_AVR_CONSOLE_DRIVER_H__
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