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.
49 lines
1.0 KiB
49 lines
1.0 KiB
|
|
#pragma once |
|
|
|
#include <AP_HAL_F4Light/AP_HAL_F4Light.h> |
|
|
|
#include <gpio_hal.h> |
|
//#include <usb.h> can't include here because defines there conflicts with AP_Math |
|
#include <usart.h> |
|
|
|
#define DEFAULT_TX_TIMEOUT 10000 |
|
|
|
extern "C" { |
|
extern int usb_open(void); |
|
extern int usb_close(void); |
|
uint32_t usb_data_available(void); |
|
void usb_reset_rx(); |
|
} |
|
|
|
namespace F4Light { |
|
|
|
class USBDriver : public AP_HAL::UARTDriver { |
|
public: |
|
USBDriver(bool usb); |
|
|
|
void begin(uint32_t b); |
|
void begin(uint32_t b, uint16_t rxS, uint16_t txS) { begin(b); } |
|
|
|
inline void end() { usb_close(); } |
|
inline bool is_initialized(){ return _initialized; } |
|
inline void set_blocking_writes(bool blocking) { _blocking=blocking; } |
|
inline bool tx_pending() { return false; } // not used |
|
|
|
void flush() { return; }; |
|
|
|
uint32_t available() override; |
|
uint32_t txspace() override; |
|
int16_t read() override; |
|
|
|
size_t write(uint8_t c); |
|
size_t write(const uint8_t *buffer, size_t size); |
|
|
|
private: |
|
bool _initialized; |
|
bool _blocking; |
|
}; |
|
|
|
} // namespace |
|
|
|
|
|
|