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104 lines
2.5 KiB
104 lines
2.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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This is a UART driver for the QFLIGHT port. Actual UART output |
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happens via RPC calls. See the qflight/ subdirectory for details |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT |
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#include <stdio.h> |
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#include <unistd.h> |
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#include "UARTQFlight.h" |
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#include <AP_HAL_Linux/qflight/qflight_util.h> |
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#include <AP_HAL_Linux/qflight/qflight_dsp.h> |
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#include <stdio.h> |
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QFLIGHTDevice::QFLIGHTDevice(const char *_device_path) |
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{ |
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device_path = _device_path; |
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if (strncmp(device_path, "qflight:", 8) == 0) { |
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device_path += 8; |
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} |
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} |
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QFLIGHTDevice::~QFLIGHTDevice() |
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{ |
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close(); |
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} |
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bool QFLIGHTDevice::close() |
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{ |
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if (fd != -1) { |
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if (qflight_UART_close(fd) != 0) { |
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return false; |
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} |
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} |
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fd = -1; |
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return true; |
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} |
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bool QFLIGHTDevice::open() |
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{ |
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int ret = qflight_UART_open(device_path, &fd); |
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if (ret != 0 || fd == -1) { |
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printf("Failed to open UART device %s ret=%d fd=%d\n", |
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device_path, ret, (int)fd); |
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return false; |
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} |
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printf("opened QFLIGHT UART device %s ret=%d fd=%d\n", |
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device_path, ret, (int)fd); |
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return true; |
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} |
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ssize_t QFLIGHTDevice::read(uint8_t *buf, uint16_t n) |
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{ |
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int32_t nread = 0; |
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int ret = qflight_UART_read(fd, buf, n, &nread); |
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if (ret != 0) { |
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return 0; |
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} |
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return nread; |
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} |
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ssize_t QFLIGHTDevice::write(const uint8_t *buf, uint16_t n) |
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{ |
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int32_t nwritten = 0; |
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int ret = qflight_UART_write(fd, buf, n, &nwritten); |
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if (ret != 0) { |
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return 0; |
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} |
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return nwritten; |
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} |
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void QFLIGHTDevice::set_blocking(bool blocking) |
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{ |
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// no implementation yet |
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} |
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void QFLIGHTDevice::set_speed(uint32_t baudrate) |
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{ |
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qflight_UART_set_baudrate(fd, baudrate); |
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} |
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#endif // CONFIG_HAL_BOARD_SUBTYPE |
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