mirror of https://github.com/ArduPilot/ardupilot
33 lines
687 B
C++
33 lines
687 B
C++
#ifndef __AP_HAL_LINUX_SPIUARTDRIVER_H__
|
|
#define __AP_HAL_LINUX_SPIUARTDRIVER_H__
|
|
|
|
#include <AP_HAL_Linux.h>
|
|
|
|
#include "UARTDriver.h"
|
|
|
|
|
|
class Linux::LinuxSPIUARTDriver : public Linux::LinuxUARTDriver {
|
|
public:
|
|
LinuxSPIUARTDriver();
|
|
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
|
|
void _timer_tick(void);
|
|
|
|
protected:
|
|
int _write_fd(const uint8_t *buf, uint16_t n);
|
|
int _read_fd(uint8_t *buf, uint16_t n);
|
|
|
|
private:
|
|
bool sem_take_nonblocking();
|
|
void sem_give();
|
|
|
|
AP_HAL::SPIDeviceDriver *_spi;
|
|
AP_HAL::Semaphore *_spi_sem;
|
|
|
|
uint32_t _last_update_timestamp;
|
|
|
|
uint8_t *_buffer;
|
|
bool _external;
|
|
};
|
|
|
|
#endif //__AP_HAL_LINUX_SPIUARTDRIVER_H__
|