mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.5 KiB
C++
135 lines
3.5 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>
|
|
#include "ap_host/src/protocol.h"
|
|
|
|
class QURT::UARTDriver : public AP_HAL::UARTDriver
|
|
{
|
|
public:
|
|
bool is_initialized() override;
|
|
bool tx_pending() override;
|
|
|
|
/* Empty implementations of Stream virtual methods */
|
|
uint32_t txspace() override;
|
|
|
|
virtual bool _write_pending_bytes(void)
|
|
{
|
|
return false;
|
|
}
|
|
virtual void _timer_tick(void) override;
|
|
virtual void _fill_read_buffer(void) {}
|
|
|
|
virtual uint32_t bw_in_bytes_per_second() const override
|
|
{
|
|
return 5760;
|
|
}
|
|
virtual enum AP_HAL::UARTDriver::flow_control get_flow_control(void) override
|
|
{
|
|
return AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
|
|
}
|
|
|
|
protected:
|
|
virtual void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
|
|
size_t _write(const uint8_t *buffer, size_t size) override;
|
|
ssize_t _read(uint8_t *buffer, uint16_t size) override WARN_IF_UNUSED;
|
|
void _end() override;
|
|
void _flush() override;
|
|
uint32_t _available() override;
|
|
bool _discard_input() override;
|
|
volatile bool _initialised;
|
|
|
|
ByteBuffer _readbuf{0};
|
|
ByteBuffer _writebuf{0};
|
|
|
|
QURT::Semaphore _read_mutex;
|
|
QURT::Semaphore _write_mutex;
|
|
};
|
|
|
|
/*
|
|
subclass for console output, maps to HAP_PRINTF
|
|
*/
|
|
class QURT::UARTDriver_Console : public QURT::UARTDriver
|
|
{
|
|
public:
|
|
using UARTDriver::UARTDriver;
|
|
virtual void printf(const char *fmt, ...) override;
|
|
};
|
|
|
|
/*
|
|
subclass for MAVLink UDP communications
|
|
*/
|
|
|
|
class QURT::UARTDriver_MAVLinkUDP : public QURT::UARTDriver
|
|
{
|
|
public:
|
|
UARTDriver_MAVLinkUDP(uint8_t instance);
|
|
|
|
bool _write_pending_bytes(void) override;
|
|
|
|
uint32_t bw_in_bytes_per_second() const override
|
|
{
|
|
return 250000 * 3;
|
|
}
|
|
enum AP_HAL::UARTDriver::flow_control get_flow_control(void) override
|
|
{
|
|
return AP_HAL::UARTDriver::FLOW_CONTROL_ENABLE;
|
|
}
|
|
|
|
private:
|
|
static void _mavlink_data_cb(const struct qurt_rpc_msg *msg, void *p);
|
|
uint8_t inst;
|
|
uint32_t seq;
|
|
};
|
|
|
|
/*
|
|
subclass for local UART communications
|
|
*/
|
|
class QURT::UARTDriver_Local : public QURT::UARTDriver
|
|
{
|
|
public:
|
|
UARTDriver_Local(uint8_t _port_id) : port_id(_port_id) {}
|
|
|
|
uint32_t bw_in_bytes_per_second() const override
|
|
{
|
|
return baudrate?baudrate/10:5760;
|
|
}
|
|
|
|
bool _write_pending_bytes(void) override;
|
|
void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
|
|
void _fill_read_buffer(void) override;
|
|
|
|
uint32_t get_baud_rate() const override
|
|
{
|
|
return baudrate;
|
|
}
|
|
|
|
/*
|
|
return timestamp estimate in microseconds for when the start of
|
|
a nbytes packet arrived on the uart.
|
|
*/
|
|
uint64_t receive_time_constraint_us(uint16_t nbytes) override;
|
|
|
|
private:
|
|
const uint8_t port_id;
|
|
int fd = -1;
|
|
uint32_t baudrate;
|
|
uint64_t receive_timestamp_us;
|
|
};
|