mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along 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_QURT.h"
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#include "Semaphores.h"
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#include <AP_HAL/utility/RingBuffer.h>
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class QURT::UARTDriver : public AP_HAL::UARTDriver {
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public:
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UARTDriver(const char *name);
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/* QURT implementations of UARTDriver virtual methods */
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void set_device_path(const char *path) {
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devname = path;
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}
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void begin(uint32_t b);
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void end();
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void flush();
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bool is_initialized();
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void set_blocking_writes(bool blocking);
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bool tx_pending();
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/* QURT implementations of Stream virtual methods */
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int16_t available();
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int16_t txspace();
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int16_t read();
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/* QURT implementations of Print virtual methods */
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size_t write(uint8_t c);
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size_t write(const uint8_t *buffer, size_t size);
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void _read_callback(char *buf, size_t size);
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void _timer_tick(void) override;
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private:
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const char *devname;
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int fd = -1;
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Semaphore lock;
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ByteBuffer *readbuf;
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ByteBuffer *writebuf;
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bool nonblocking_writes = false;
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volatile bool in_timer = false;
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volatile bool initialised = false;
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uint64_t last_write_time_us;
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int write_fd(const uint8_t *buf, uint16_t n);
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};
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