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41 lines
871 B
41 lines
871 B
#ifndef __AP_HAL_LINUX_RPIOUARTDRIVER_H__ |
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#define __AP_HAL_LINUX_RPIOUARTDRIVER_H__ |
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#include "AP_HAL_Linux.h" |
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#include "UARTDriver.h" |
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class Linux::RPIOUARTDriver : public Linux::UARTDriver { |
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public: |
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RPIOUARTDriver(); |
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static RPIOUARTDriver *from(AP_HAL::UARTDriver *uart) { |
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return static_cast<RPIOUARTDriver*>(uart); |
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} |
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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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bool isExternal(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 _in_timer; |
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bool sem_take_nonblocking(); |
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void sem_give(); |
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AP_HAL::SPIDeviceDriver *_spi; |
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AP_HAL::Semaphore *_spi_sem; |
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uint32_t _last_update_timestamp; |
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bool _external; |
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bool _need_set_baud; |
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uint32_t _baudrate; |
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}; |
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#endif //__AP_HAL_LINUX_RPIOUARTDRIVER_H__
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