mirror of https://github.com/ArduPilot/ardupilot
41 lines
736 B
C++
41 lines
736 B
C++
#pragma once
|
|
|
|
#include "AP_HAL_Linux.h"
|
|
|
|
#include "UARTDriver.h"
|
|
#include <AP_HAL/SPIDevice.h>
|
|
|
|
namespace Linux {
|
|
|
|
class RPIOUARTDriver : public UARTDriver {
|
|
public:
|
|
RPIOUARTDriver();
|
|
|
|
static RPIOUARTDriver *from(AP_HAL::UARTDriver *uart) {
|
|
return static_cast<RPIOUARTDriver*>(uart);
|
|
}
|
|
|
|
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
|
|
void _timer_tick(void);
|
|
bool isExternal(void);
|
|
|
|
protected:
|
|
int _write_fd(const uint8_t *buf, uint16_t n);
|
|
int _read_fd(uint8_t *buf, uint16_t n);
|
|
|
|
private:
|
|
bool _in_timer;
|
|
|
|
bool _bus_timer(void);
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
|
|
|
|
bool _external;
|
|
bool _registered_callback;
|
|
|
|
bool _need_set_baud;
|
|
uint32_t _baudrate;
|
|
};
|
|
|
|
}
|