mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.7 KiB
C++
70 lines
1.7 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);
|
|
|
|
volatile bool _initialised;
|
|
volatile bool _in_timer;
|
|
|
|
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;
|
|
|
|
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;
|
|
};
|
|
|
|
#endif // __AP_HAL_PX4_UARTDRIVER_H__
|