mirror of https://github.com/ArduPilot/ardupilot
79 lines
1.3 KiB
C++
79 lines
1.3 KiB
C++
/*
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(c) 2017 night_ghost@ykoctpa.ru
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* UART_OSD.cpp --- AP_HAL_F4Light OSD implementation via fake UART
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*
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT && defined(BOARD_OSD_NAME) && defined(BOARD_OSD_CS_PIN)
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#include "UART_OSD.h"
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#include "SPIDevice.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <gpio_hal.h>
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#include "osd/osd.h"
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using namespace F4Light;
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using namespace OSDns;
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UART_OSD::UART_OSD():
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_initialized(false),
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_blocking(true)
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{
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}
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void UART_OSD::begin(uint32_t baud) {
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(void)baud;
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if(_initialized) return;
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OSDns::osd_begin(F4Light::SPIDeviceManager::_get_device(BOARD_OSD_NAME));
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_initialized = true;
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}
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uint32_t UART_OSD::available() {
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return OSDns::osd_available();
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}
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int16_t UART_OSD::read() {
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if (available() <= 0) return -1;
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return OSDns::osd_getc();
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}
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uint32_t UART_OSD::txspace() {
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return OSDns::osd_txspace();
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}
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size_t UART_OSD::write(uint8_t c) {
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if (!_initialized) {
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return 0;
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}
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OSDns::osd_putc(c);
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return 1;
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}
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size_t UART_OSD::write(const uint8_t *buffer, size_t size)
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{
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size_t n = 0;
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while (size--) {
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n += write(*buffer++);
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}
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return n;
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}
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#endif // CONFIG_HAL_BOARD
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