mirror of https://github.com/ArduPilot/ardupilot
145 lines
3.9 KiB
C++
145 lines
3.9 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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/*
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Flymaple port by Mike McCauley
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CAUTION: correct compilation and operation of this code depends on
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using the fork of libmaple from https://github.com/mikemccauley/libmaple.git
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include <stdlib.h>
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#include "UARTDriver.h"
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#include "FlymapleWirish.h"
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#include <HardwareSerial.h>
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#include <usart.h>
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using namespace AP_HAL_FLYMAPLE_NS;
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extern const AP_HAL::HAL& hal;
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FLYMAPLEUARTDriver::FLYMAPLEUARTDriver(HardwareSerial* hws):
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_hws(hws),
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_txBuf(NULL),
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_txBufSize(63), // libmaple internal usart default driver buffer is 63
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_rxBuf(NULL),
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_rxBufSize(63) // libmaple internal usart default driver buffer is 63
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{}
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void FLYMAPLEUARTDriver::begin(uint32_t b)
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{
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// Don't let the ISRs access the ring buffers until we are fully set up:
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nvic_irq_disable(_hws->c_dev()->irq_num);
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_hws->begin(b);
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if (_txBuf)
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rb_init(_hws->c_dev()->tx_rb, _txBufSize, _txBuf); // Get the TX ring buffer size we want
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if (_rxBuf)
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rb_init(_hws->c_dev()->rb, _rxBufSize, _rxBuf); // Get the RX ring buffer size we want
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nvic_irq_enable(_hws->c_dev()->irq_num);
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}
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void FLYMAPLEUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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{
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// Our private buffers can only grow, never shrink
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// rxS == 0 or txS == 0 means no change to buffer size
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uint8_t* oldRxBuf = NULL;
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uint8_t* oldTxBuf = NULL;
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// Maybe a new TX buffer?
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if (txS && (txS > _txBufSize))
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{
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oldTxBuf = _txBuf;
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_txBuf = (uint8_t*)malloc(txS); // Caution: old contents lost
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_txBufSize = txS;
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}
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// Maybe a new RX buffer?
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if (rxS && (rxS > _rxBufSize))
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{
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oldRxBuf = _rxBuf;
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_rxBuf = (uint8_t*)malloc(rxS); // Caution: old contents lost
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_rxBufSize = rxS;
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}
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// Don't let the IRs access the ring buffers until we are fully set up:
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nvic_irq_disable(_hws->c_dev()->irq_num);
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begin(b); // libmaple internal ring buffer reinitialised to defaults here
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if (_txBuf)
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rb_init(_hws->c_dev()->tx_rb, _txBufSize, _txBuf); // Get the TX ring buffer size we want
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if (_rxBuf)
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rb_init(_hws->c_dev()->rb, _rxBufSize, _rxBuf); // Get the RX ring buffer size we want
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nvic_irq_enable(_hws->c_dev()->irq_num);
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// Now its safe to free any old buffers
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if (oldTxBuf)
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free(oldTxBuf);
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if (oldRxBuf)
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free(oldRxBuf);
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}
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void FLYMAPLEUARTDriver::end()
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{
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_hws->end();
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}
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void FLYMAPLEUARTDriver::flush()
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{
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_hws->flush();
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}
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bool FLYMAPLEUARTDriver::is_initialized()
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{
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return true;
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}
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void FLYMAPLEUARTDriver::set_blocking_writes(bool blocking) {}
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bool FLYMAPLEUARTDriver::tx_pending() { return false; }
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/* FLYMAPLE implementations of Stream virtual methods */
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int16_t FLYMAPLEUARTDriver::available()
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{
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return _hws->available();
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}
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int16_t FLYMAPLEUARTDriver::txspace()
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{
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// Mikems fork of libmaple includes usart TX buffering
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return _hws->c_dev()->tx_rb->size - rb_full_count(_hws->c_dev()->tx_rb);
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}
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int16_t FLYMAPLEUARTDriver::read()
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{
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return _hws->read();
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}
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/* FLYMAPLE implementations of Print virtual methods */
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size_t FLYMAPLEUARTDriver::write(uint8_t c)
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{
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_hws->write(c);
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return 1;
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}
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size_t FLYMAPLEUARTDriver::write(const uint8_t *buffer, size_t size)
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{
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size_t n = 0;
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while (size--) {
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n += write(*buffer++);
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}
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return n;
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}
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#endif
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