mirror of
https://github.com/ArduPilot/ardupilot
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127 lines
3.1 KiB
C++
127 lines
3.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// Interrupt-driven serial transmit/receive library.
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//
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// Copyright (c) 2010 Michael Smith. All rights reserved.
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//
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// Receive and baudrate calculations derived from the Arduino
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// HardwareSerial driver:
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//
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// Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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//
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// Transmit algorithm inspired by work:
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//
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// Code Jose Julio and Jordi Munoz. DIYDrones.com
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//
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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//
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// This library 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 GNU
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// Lesser General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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//
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//#include "../AP_Common/AP_Common.h"
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#include "FastSerial.h"
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#include "WProgram.h"
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#include <unistd.h>
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#include <pty.h>
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#if defined(UDR3)
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# define FS_MAX_PORTS 4
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#elif defined(UDR2)
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# define FS_MAX_PORTS 3
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#elif defined(UDR1)
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# define FS_MAX_PORTS 2
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#else
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# define FS_MAX_PORTS 1
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#endif
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FastSerial::Buffer __FastSerial__rxBuffer[FS_MAX_PORTS];
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FastSerial::Buffer __FastSerial__txBuffer[FS_MAX_PORTS];
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// Constructor /////////////////////////////////////////////////////////////////
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FastSerial::FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra, volatile uint8_t *ucsrb, const uint8_t u2x,
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const uint8_t portEnableBits, const uint8_t portTxBits) :
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_ubrrh(ubrrh),
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_ubrrl(ubrrl),
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_ucsra(ucsra),
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_ucsrb(ucsrb),
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_u2x(u2x),
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_portEnableBits(portEnableBits),
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_portTxBits(portTxBits),
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_rxBuffer(&__FastSerial__rxBuffer[portNumber]),
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_txBuffer(&__FastSerial__txBuffer[portNumber])
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void FastSerial::begin(long baud)
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{
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printf("Starting serial port\n");
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}
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void FastSerial::begin(long baud, unsigned int rxSpace, unsigned int txSpace)
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{
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begin(baud);
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}
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void FastSerial::end()
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{
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}
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int FastSerial::available(void)
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{
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return 0;
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}
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int FastSerial::txspace(void)
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{
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return 128;
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}
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int FastSerial::read(void)
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{
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char c;
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pread(0, (void *)&c, 1, 0);
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return (int)c;
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}
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int FastSerial::peek(void)
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{
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return -1;
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}
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void FastSerial::flush(void)
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{
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}
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void FastSerial::write(uint8_t c)
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{
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fwrite(&c, 1, 1, stdout);
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fflush(stdout);
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}
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// Buffer management ///////////////////////////////////////////////////////////
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bool FastSerial::_allocBuffer(Buffer *buffer, unsigned int size)
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{
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return false;
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}
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void FastSerial::_freeBuffer(Buffer *buffer)
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{
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}
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