You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
55 lines
1.5 KiB
55 lines
1.5 KiB
|
|
#ifndef __AP_HAL_PX4_UARTDRIVER_H__ |
|
#define __AP_HAL_PX4_UARTDRIVER_H__ |
|
|
|
#include <AP_HAL_PX4.h> |
|
|
|
class PX4::PX4UARTDriver : public AP_HAL::UARTDriver { |
|
public: |
|
PX4UARTDriver(const char *devpath); |
|
/* PX4 implementations of UARTDriver virtual methods */ |
|
void begin(uint32_t b); |
|
void begin(uint32_t b, uint16_t rxS, uint16_t txS); |
|
void end(); |
|
void flush(); |
|
bool is_initialized(); |
|
void set_blocking_writes(bool blocking); |
|
bool tx_pending(); |
|
|
|
/* PX4 implementations of BetterStream virtual methods */ |
|
void print_P(const prog_char_t *pstr); |
|
void println_P(const prog_char_t *pstr); |
|
void printf(const char *pstr, ...); |
|
void _printf_P(const prog_char *pstr, ...); |
|
|
|
void vprintf(const char* fmt, va_list ap); |
|
void vprintf_P(const prog_char* fmt, va_list ap); |
|
|
|
/* PX4 implementations of Stream virtual methods */ |
|
int16_t available(); |
|
int16_t txspace(); |
|
int16_t read(); |
|
|
|
/* PX4 implementations of Print virtual methods */ |
|
size_t write(uint8_t c); |
|
|
|
bool _initialised; |
|
|
|
void set_device_path(const char *path) { |
|
_devpath = path; |
|
} |
|
|
|
private: |
|
const char *_devpath; |
|
int _fd; |
|
bool _nonblocking_writes; |
|
void _vdprintf(int fd, const char *fmt, va_list ap); |
|
|
|
// we keep a small read buffer to lower the cost of ::read() system calls |
|
uint16_t _readbuf_size; |
|
uint8_t *_readbuf; |
|
uint16_t _readbuf_count; |
|
uint16_t _readbuf_ofs; |
|
}; |
|
|
|
#endif // __AP_HAL_PX4_UARTDRIVER_H__
|
|
|