mirror of https://github.com/ArduPilot/ardupilot
160 lines
3.1 KiB
C++
160 lines
3.1 KiB
C++
/*
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* UARTDriver.cpp --- AP_HAL_SMACCM UART driver.
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*
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* Copyright (C) 2012, Galois, Inc.
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* All Rights Reserved.
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*
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* This software is released under the "BSD3" license. Read the file
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* "LICENSE" for more information.
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*/
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#include "UARTDriver.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
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#include <stdio.h> // for vsnprintf
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using namespace SMACCM;
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// XXX the AVR driver enables itself in the constructor. This seems
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// like a very bad idea, since it will run somewhere in the startup
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// code before our clocks are all set up and such.
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SMACCMUARTDriver::SMACCMUARTDriver(struct usart *dev)
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: m_dev(dev), m_initialized(false), m_blocking(true)
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{
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}
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void SMACCMUARTDriver::begin(uint32_t baud)
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{
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if (m_dev != NULL) {
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usart_init(m_dev, baud);
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usart_enable(m_dev);
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}
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m_initialized = true;
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}
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// XXX buffer sizes ignored
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void SMACCMUARTDriver::begin(uint32_t baud, uint16_t rxS, uint16_t txS)
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{
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begin(baud);
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}
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// XXX hwf4 doesn't support de-initializing a USART
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void SMACCMUARTDriver::end()
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{
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}
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// XXX hwf4 doesn't support flushing, could be tricky to get the
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// synchronization right. Would we just force the TX/RX queues to
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// empty?
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void SMACCMUARTDriver::flush()
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{
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}
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bool SMACCMUARTDriver::is_initialized()
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{
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return m_initialized;
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}
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void SMACCMUARTDriver::set_blocking_writes(bool blocking)
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{
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m_blocking = blocking;
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}
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bool SMACCMUARTDriver::tx_pending()
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{
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if (m_dev != NULL) {
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return usart_is_tx_pending(m_dev);
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}
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return false;
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}
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/* SMACCM implementations of BetterStream virtual methods */
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void SMACCMUARTDriver::print_P(const prog_char_t *pstr)
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{
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while (*pstr)
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write(*pstr++);
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}
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void SMACCMUARTDriver::println_P(const prog_char_t *pstr)
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{
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print_P(pstr);
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println();
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}
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// XXX this will be changing, putting this on the stack hurts but
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// allows us to be easily re-entrant
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void SMACCMUARTDriver::printf(const char *fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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vprintf(fmt, ap);
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va_end(ap);
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}
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void SMACCMUARTDriver::_printf_P(const prog_char *fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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vprintf(fmt, ap);
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va_end(ap);
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}
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void SMACCMUARTDriver::vprintf(const char *pstr, va_list ap)
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{
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char buf[128];
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vsnprintf(buf, sizeof(buf), pstr, ap);
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print(buf);
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}
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void SMACCMUARTDriver::vprintf_P(const prog_char *pstr, va_list ap)
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{
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vprintf(pstr, ap);
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}
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/* SMACCM implementations of Stream virtual methods */
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int16_t SMACCMUARTDriver::available()
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{
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if (m_dev != NULL)
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return (int16_t)usart_available(m_dev);
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return 0;
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}
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int16_t SMACCMUARTDriver::txspace()
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{
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if (m_dev != NULL)
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return (int16_t)usart_txspace(m_dev);
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return 0;
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}
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// It looks like this should always be a non-blocking read, so return
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// -1 if there is nothing to receive immediately.
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int16_t SMACCMUARTDriver::read()
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{
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uint8_t c;
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if (m_dev == NULL)
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return -1;
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if (usart_read_timeout(m_dev, 0, &c, 1) == 0)
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return -1;
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return (int16_t)c;
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}
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/* SMACCM implementations of Print virtual methods */
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size_t SMACCMUARTDriver::write(uint8_t c)
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{
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if (m_dev == NULL)
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return 1;
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portTickType delay = m_blocking ? portMAX_DELAY : 0;
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return usart_write_timeout(m_dev, delay, &c, 1);
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
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