29 lines
536 B
C++
29 lines
536 B
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include "UARTDriver.h"
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class Linux::SPIUARTDriver : public Linux::UARTDriver {
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public:
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SPIUARTDriver();
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void _timer_tick(void);
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protected:
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int _write_fd(const uint8_t *buf, uint16_t n);
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int _read_fd(uint8_t *buf, uint16_t n);
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private:
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bool sem_take_nonblocking();
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void sem_give();
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
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uint32_t _last_update_timestamp;
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uint8_t *_buffer;
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bool _external;
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};
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