ardupilot/libraries/AP_HAL_Linux/RPIOUARTDriver.h

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;
};
}