mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "AP_HAL_QURT.h"
|
|
#include "Semaphores.h"
|
|
#include <AP_HAL/utility/RingBuffer.h>
|
|
|
|
class QURT::UARTDriver : public AP_HAL::UARTDriver {
|
|
public:
|
|
UARTDriver(const char *name);
|
|
|
|
/* QURT implementations of UARTDriver virtual methods */
|
|
|
|
void set_device_path(const char *path) {
|
|
devname = path;
|
|
}
|
|
|
|
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();
|
|
|
|
/* QURT implementations of Stream virtual methods */
|
|
int16_t available();
|
|
int16_t txspace();
|
|
int16_t read();
|
|
|
|
/* QURT implementations of Print virtual methods */
|
|
size_t write(uint8_t c);
|
|
size_t write(const uint8_t *buffer, size_t size);
|
|
|
|
void _read_callback(char *buf, size_t size);
|
|
|
|
void timer_tick(void);
|
|
|
|
private:
|
|
const char *devname;
|
|
int fd = -1;
|
|
Semaphore lock;
|
|
|
|
ByteBuffer *readbuf;
|
|
ByteBuffer *writebuf;
|
|
|
|
bool nonblocking_writes = false;
|
|
volatile bool in_timer = false;
|
|
volatile bool initialised = false;
|
|
|
|
uint64_t last_write_time_us;
|
|
|
|
int write_fd(const uint8_t *buf, uint16_t n);
|
|
};
|