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.
88 lines
2.0 KiB
88 lines
2.0 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
Flymaple port by Mike McCauley |
|
*/ |
|
|
|
#include <AP_HAL.h> |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
|
|
|
#include "UARTDriver.h" |
|
#include "FlymapleWirish.h" |
|
#include <HardwareSerial.h> |
|
|
|
using namespace AP_HAL_FLYMAPLE_NS; |
|
|
|
FLYMAPLEUARTDriver::FLYMAPLEUARTDriver(HardwareSerial* hws): |
|
_hws(hws) |
|
{} |
|
|
|
void FLYMAPLEUARTDriver::begin(uint32_t b) |
|
{ |
|
_hws->begin(b); |
|
} |
|
|
|
void FLYMAPLEUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) |
|
{ |
|
begin(b); |
|
} |
|
|
|
void FLYMAPLEUARTDriver::end() |
|
{ |
|
_hws->end(); |
|
} |
|
|
|
void FLYMAPLEUARTDriver::flush() |
|
{ |
|
_hws->flush(); |
|
} |
|
|
|
bool FLYMAPLEUARTDriver::is_initialized() |
|
{ |
|
return true; |
|
} |
|
|
|
void FLYMAPLEUARTDriver::set_blocking_writes(bool blocking) {} |
|
|
|
bool FLYMAPLEUARTDriver::tx_pending() { return false; } |
|
|
|
/* FLYMAPLE implementations of Stream virtual methods */ |
|
int16_t FLYMAPLEUARTDriver::available() |
|
{ |
|
return _hws->available(); |
|
} |
|
|
|
int16_t FLYMAPLEUARTDriver::txspace() |
|
{ |
|
// txspace must return something sensible, else MAVlink wont s4nd out heartbeats |
|
// but we cannot get the actual number from libmaple. |
|
// Actually libmaple usart is synchronous, so the number returned is irrelevant |
|
return 1000; |
|
} |
|
|
|
int16_t FLYMAPLEUARTDriver::read() |
|
{ |
|
return _hws->read(); |
|
} |
|
|
|
/* FLYMAPLE implementations of Print virtual methods */ |
|
size_t FLYMAPLEUARTDriver::write(uint8_t c) |
|
{ |
|
_hws->write(c); |
|
return 1; |
|
} |
|
|
|
#endif
|
|
|