ardupilot/libraries/AP_HAL_PX4/UARTDriver.h

78 lines
2.0 KiB
C++

#pragma once
#include <AP_HAL/utility/RingBuffer.h>
#include "AP_HAL_PX4.h"
#include <systemlib/perf_counter.h>
#include "Semaphores.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 */
uint32_t available() override;
uint32_t txspace() override;
int16_t read() override;
/* PX4 implementations of Print virtual methods */
size_t write(uint8_t c);
size_t write(const uint8_t *buffer, size_t size);
void set_device_path(const char *path) {
_devpath = path;
}
void _timer_tick(void) override;
int _get_fd(void) {
return _fd;
}
void set_flow_control(enum flow_control flow_control);
enum flow_control get_flow_control(void) { return _flow_control; }
void configure_parity(uint8_t v);
void set_stop_bits(int n);
bool set_unbuffered_writes(bool on);
private:
const char *_devpath;
int _fd;
uint32_t _baudrate;
volatile bool _initialised;
volatile bool _in_timer;
bool _nonblocking_writes;
bool _unbuffered_writes;
// we use in-task ring buffers to reduce the system call cost
// of ::read() and ::write() in the main loop
ByteBuffer _readbuf{0};
ByteBuffer _writebuf{0};
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 _first_write_time;
uint64_t _last_write_time;
void try_initialise(void);
uint32_t _last_initialise_attempt_ms;
uint32_t _os_start_auto_space;
uint32_t _total_read;
uint32_t _total_written;
enum flow_control _flow_control;
Semaphore _semaphore;
};