mirror of https://github.com/ArduPilot/ardupilot
39 lines
756 B
C++
39 lines
756 B
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include "UARTDriver.h"
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class Linux::RPIOUARTDriver : public Linux::UARTDriver {
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public:
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RPIOUARTDriver();
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static RPIOUARTDriver *from(AP_HAL::UARTDriver *uart) {
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return static_cast<RPIOUARTDriver*>(uart);
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}
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void _timer_tick(void);
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bool isExternal(void);
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protected:
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int _write_fd(const uint8_t *buf, uint16_t n);
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int _read_fd(uint8_t *buf, uint16_t n);
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private:
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bool _in_timer;
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bool sem_take_nonblocking();
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void sem_give();
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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uint32_t _last_update_timestamp;
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bool _external;
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bool _need_set_baud;
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uint32_t _baudrate;
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};
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