ardupilot/libraries/AP_HAL_PX4/UARTDriver.h

73 lines
1.8 KiB
C++

#ifndef __AP_HAL_PX4_UARTDRIVER_H__
#define __AP_HAL_PX4_UARTDRIVER_H__
#include <AP_HAL_PX4.h>
#include <systemlib/perf_counter.h>
class PX4::PX4UARTDriver : public AP_HAL::UARTDriver {
public:
PX4UARTDriver(const char *devpath, const char *perf_name);
/* PX4 implementations of UARTDriver virtual methods */
void begin(uint32_t b);
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
void end();
void flush();
bool is_initialized();
void set_blocking_writes(bool blocking);
bool tx_pending();
/* PX4 implementations of Stream virtual methods */
int16_t available();
int16_t txspace();
int16_t read();
/* PX4 implementations of Print virtual methods */
size_t write(uint8_t c);
size_t write(const uint8_t *buffer, size_t size);
void set_device_path(const char *path) {
_devpath = path;
}
void _timer_tick(void);
int _get_fd(void) {
return _fd;
}
private:
const char *_devpath;
int _fd;
uint32_t _baudrate;
volatile bool _initialised;
volatile bool _in_timer;
bool _nonblocking_writes;
// we use in-task ring buffers to reduce the system call cost
// of ::read() and ::write() in the main loop
uint8_t *_readbuf;
uint16_t _readbuf_size;
// _head is where the next available data is. _tail is where new
// data is put
volatile uint16_t _readbuf_head;
volatile uint16_t _readbuf_tail;
uint8_t *_writebuf;
uint16_t _writebuf_size;
volatile uint16_t _writebuf_head;
volatile uint16_t _writebuf_tail;
perf_counter_t _perf_uart;
int _write_fd(const uint8_t *buf, uint16_t n);
int _read_fd(uint8_t *buf, uint16_t n);
uint64_t _last_write_time;
void try_initialise(void);
uint32_t _last_initialise_attempt_ms;
};
#endif // __AP_HAL_PX4_UARTDRIVER_H__