mirror of https://github.com/ArduPilot/ardupilot
108 lines
3.0 KiB
C++
108 lines
3.0 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/UARTDriver.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include <AP_HAL_ESP32/AP_HAL_ESP32.h>
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#include <AP_HAL_ESP32/Semaphores.h>
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#include "driver/gpio.h"
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#include "driver/uart.h"
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namespace ESP32
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{
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struct UARTDesc {
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uart_port_t port;
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gpio_num_t rx;
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gpio_num_t tx;
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};
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class UARTDriver : public AP_HAL::UARTDriver
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{
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public:
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UARTDriver(uint8_t serial_num)
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: AP_HAL::UARTDriver()
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{
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_initialized = false;
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uart_num = serial_num;
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}
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virtual ~UARTDriver() = default;
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void vprintf(const char *fmt, va_list ap) override;
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bool is_initialized() override;
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bool tx_pending() override;
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uint32_t txspace() override;
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void _timer_tick(void) override;
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uint32_t bw_in_bytes_per_second() const override
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{
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return 10*1024;
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}
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/*
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return timestamp estimate in microseconds for when the start of
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a nbytes packet arrived on the uart. This should be treated as a
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time constraint, not an exact time. It is guaranteed that the
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packet did not start being received after this time, but it
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could have been in a system buffer before the returned time.
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This takes account of the baudrate of the link. For transports
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that have no baudrate (such as USB) the time estimate may be
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less accurate.
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A return value of zero means the HAL does not support this API */
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uint64_t receive_time_constraint_us(uint16_t nbytes) override;
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uint32_t get_baud_rate() const override { return _baudrate; }
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private:
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bool _initialized;
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const size_t TX_BUF_SIZE = 1024;
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const size_t RX_BUF_SIZE = 1024;
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uint8_t _buffer[32];
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ByteBuffer _readbuf{0};
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ByteBuffer _writebuf{0};
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Semaphore _write_mutex;
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void read_data();
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void write_data();
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uint8_t uart_num;
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// timestamp for receiving data on the UART, avoiding a lock
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uint64_t _receive_timestamp[2];
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uint8_t _receive_timestamp_idx;
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uint32_t _baudrate;
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void _receive_timestamp_update(void);
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protected:
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void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
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void _end() override;
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void _flush() override;
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uint32_t _available() override;
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ssize_t _read(uint8_t *buffer, uint16_t count) override;
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size_t _write(const uint8_t *buffer, size_t size) override;
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bool _discard_input() override; // discard all bytes available for reading
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};
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}
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