#include <UARTDriver.h>

Inheritance diagram for PX4::PX4UARTDriver:

Collaboration diagram for PX4::PX4UARTDriver:

Public Member Functions
	PX4UARTDriver (const char devpath, const char perf_name)

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 ()

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)

void	set_device_path (const char *path)

void	_timer_tick (void) override

int	_get_fd (void)

void	set_flow_control (enum flow_control flow_control)

enum flow_control	get_flow_control (void)

void	configure_parity (uint8_t v)

void	set_stop_bits (int n)

bool	set_unbuffered_writes (bool on)

uint64_t	receive_time_constraint_us (uint16_t nbytes) override

Public Member Functions inherited from AP_HAL::UARTDriver
	UARTDriver ()

virtual bool	lock_port (uint32_t key)

virtual size_t	write_locked (const uint8_t *buffer, size_t size, uint32_t key)

virtual void	set_flow_control (enum flow_control flow_control_setting)

virtual bool	wait_timeout (uint16_t n, uint32_t timeout_ms)

Public Member Functions inherited from AP_HAL::BetterStream
virtual void	printf (const char *,...) FMT_PRINTF(2

virtual void virtual void	vprintf (const char *, va_list)

void	print (const char *str)

void	println (const char *str)

size_t	write (const char *str)

Private Member Functions
int	_write_fd (const uint8_t *buf, uint16_t n)

int	_read_fd (uint8_t *buf, uint16_t n)

void	try_initialise (void)

Private Attributes
const char *	_devpath

int	_fd

uint32_t	_baudrate

volatile bool	_initialised

volatile bool	_in_timer

bool	_nonblocking_writes

bool	_unbuffered_writes

ByteBuffer	_readbuf {0}

ByteBuffer	_writebuf {0}

perf_counter_t	_perf_uart

uint64_t	_first_write_time

uint64_t	_last_write_time

uint32_t	_last_initialise_attempt_ms

uint32_t	_os_start_auto_space

uint32_t	_total_read

uint32_t	_total_written

enum flow_control	_flow_control

uint64_t	_receive_timestamp [2]

uint8_t	_receive_timestamp_idx

Semaphore	_semaphore

bool	_is_usb

Additional Inherited Members
Public Types inherited from AP_HAL::UARTDriver
enum	flow_control { FLOW_CONTROL_DISABLE =0, FLOW_CONTROL_ENABLE =1, FLOW_CONTROL_AUTO =2 }

Detailed Description

Definition at line 9 of file UARTDriver.h.

Constructor & Destructor Documentation

◆ PX4UARTDriver()

PX4UARTDriver::PX4UARTDriver	(	const char *	devpath,
		const char *	perf_name
	)

Definition at line 23 of file UARTDriver.cpp.

Member Function Documentation

◆ _get_fd()

int PX4::PX4UARTDriver::_get_fd ( void )

inline

Definition at line 36 of file UARTDriver.h.

Referenced by PX4::PX4Util::run_debug_shell().

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◆ _read_fd()

int PX4UARTDriver::_read_fd	(	uint8_t *	buf,
		uint16_t	n
	)

private

Definition at line 444 of file UARTDriver.cpp.

Referenced by _timer_tick().

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◆ _timer_tick()

void PX4UARTDriver::_timer_tick ( void )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 471 of file UARTDriver.cpp.

Referenced by set_device_path().

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◆ _write_fd()

int PX4UARTDriver::_write_fd	(	const uint8_t *	buf,
		uint16_t	n
	)

private

Definition at line 376 of file UARTDriver.cpp.

Referenced by _timer_tick(), and write().

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◆ available()

uint32_t PX4UARTDriver::available ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 253 of file UARTDriver.cpp.

Referenced by receive_time_constraint_us().

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◆ begin() [1/2]

void PX4UARTDriver::begin ( uint32_t b )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 195 of file UARTDriver.cpp.

Referenced by try_initialise().

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◆ begin() [2/2]

void PX4UARTDriver::begin	(	uint32_t	baud,
		uint16_t	rxSpace,
		uint16_t	txSpace
	)

virtual

Extended port open method

Allows for both opening with specified buffer sizes, and re-opening to adjust a subset of the port's settings.

Note: Buffer sizes greater than ::_max_buffer_size will be rounded down.

Parameters

baud	Selects the speed that the port will be configured to. If zero, the port speed is left unchanged.
rxSpace	Sets the receive buffer size for the port. If zero then the buffer size is left unchanged if the port is open, or set to ::_default_rx_buffer_size if it is currently closed.
txSpace	Sets the transmit buffer size for the port. If zero then the buffer size is left unchanged if the port is open, or set to ::_default_tx_buffer_size if it is currently closed.

Implements AP_HAL::UARTDriver.

Definition at line 43 of file UARTDriver.cpp.

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◆ configure_parity()

void PX4UARTDriver::configure_parity ( uint8_t v )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 157 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ end()

void PX4UARTDriver::end ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 222 of file UARTDriver.cpp.

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◆ flush()

void PX4UARTDriver::flush ( void )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 235 of file UARTDriver.cpp.

◆ get_flow_control()

enum flow_control PX4::PX4UARTDriver::get_flow_control ( void )

inlinevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 41 of file UARTDriver.h.

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◆ is_initialized()

bool PX4UARTDriver::is_initialized ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 237 of file UARTDriver.cpp.

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◆ read()

int16_t PX4UARTDriver::read ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 279 of file UARTDriver.cpp.

Referenced by _read_fd().

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◆ receive_time_constraint_us()

uint64_t PX4UARTDriver::receive_time_constraint_us ( uint16_t nbytes )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 545 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ set_blocking_writes()

void PX4UARTDriver::set_blocking_writes ( bool blocking )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 243 of file UARTDriver.cpp.

◆ set_device_path()

void PX4::PX4UARTDriver::set_device_path ( const char * path )

inline

Definition at line 30 of file UARTDriver.h.

Referenced by HAL_PX4::run().

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◆ set_flow_control()

void PX4UARTDriver::set_flow_control ( enum flow_control flow_control )

Definition at line 135 of file UARTDriver.cpp.

Referenced by _get_fd(), and _write_fd().

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◆ set_stop_bits()

void PX4UARTDriver::set_stop_bits ( int n )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 179 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ set_unbuffered_writes()

bool PX4UARTDriver::set_unbuffered_writes ( bool on )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 190 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ try_initialise()

void PX4UARTDriver::try_initialise ( void )

private

Definition at line 207 of file UARTDriver.cpp.

Referenced by available(), is_initialized(), read(), txspace(), and write().

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◆ tx_pending()

bool PX4UARTDriver::tx_pending ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 248 of file UARTDriver.cpp.

◆ txspace()

uint32_t PX4UARTDriver::txspace ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 266 of file UARTDriver.cpp.

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◆ write() [1/2]

size_t PX4UARTDriver::write ( uint8_t c )

virtual

Implements AP_HAL::BetterStream.

Definition at line 303 of file UARTDriver.cpp.

Referenced by _write_fd(), and write().

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◆ write() [2/2]

size_t PX4UARTDriver::write	(	const uint8_t *	buffer,
		size_t	size
	)

virtual

Reimplemented from AP_HAL::BetterStream.

Definition at line 338 of file UARTDriver.cpp.

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Member Data Documentation

◆ _baudrate

uint32_t PX4::PX4UARTDriver::_baudrate

private

Definition at line 65 of file UARTDriver.h.

Referenced by begin(), and receive_time_constraint_us().

◆ _devpath

const char* PX4::PX4UARTDriver::_devpath

private

Definition at line 63 of file UARTDriver.h.

Referenced by _write_fd(), begin(), and set_device_path().

◆ _fd

int PX4::PX4UARTDriver::_fd

private

Definition at line 64 of file UARTDriver.h.

Referenced by _get_fd(), _read_fd(), _write_fd(), begin(), configure_parity(), end(), set_flow_control(), and set_stop_bits().

◆ _first_write_time

uint64_t PX4::PX4UARTDriver::_first_write_time

private

Definition at line 80 of file UARTDriver.h.

Referenced by _write_fd(), and set_flow_control().

◆ _flow_control

enum flow_control PX4::PX4UARTDriver::_flow_control

private

Definition at line 89 of file UARTDriver.h.

Referenced by _write_fd(), get_flow_control(), and set_flow_control().

◆ _in_timer

volatile bool PX4::PX4UARTDriver::_in_timer

private

Definition at line 67 of file UARTDriver.h.

Referenced by _timer_tick(), begin(), and end().

◆ _initialised

volatile bool PX4::PX4UARTDriver::_initialised

private

Definition at line 66 of file UARTDriver.h.

Referenced by _timer_tick(), available(), begin(), end(), is_initialized(), read(), try_initialise(), txspace(), and write().

◆ _is_usb

bool PX4::PX4UARTDriver::_is_usb

private

Definition at line 97 of file UARTDriver.h.

Referenced by _timer_tick(), begin(), and receive_time_constraint_us().

◆ _last_initialise_attempt_ms

uint32_t PX4::PX4UARTDriver::_last_initialise_attempt_ms

private

Definition at line 84 of file UARTDriver.h.

Referenced by try_initialise().

◆ _last_write_time

uint64_t PX4::PX4UARTDriver::_last_write_time

private

Definition at line 81 of file UARTDriver.h.

Referenced by _write_fd().

◆ _nonblocking_writes

bool PX4::PX4UARTDriver::_nonblocking_writes

private

Definition at line 69 of file UARTDriver.h.

Referenced by set_blocking_writes(), and write().

◆ _os_start_auto_space

uint32_t PX4::PX4UARTDriver::_os_start_auto_space

private

Definition at line 86 of file UARTDriver.h.

Referenced by _write_fd().

◆ _perf_uart

perf_counter_t PX4::PX4UARTDriver::_perf_uart

private

Definition at line 76 of file UARTDriver.h.

Referenced by _timer_tick().

◆ _readbuf

ByteBuffer PX4::PX4UARTDriver::_readbuf {0}

private

Definition at line 74 of file UARTDriver.h.

Referenced by _timer_tick(), available(), begin(), end(), and read().

◆ _receive_timestamp

uint64_t PX4::PX4UARTDriver::_receive_timestamp[2]

private

Definition at line 92 of file UARTDriver.h.

Referenced by _timer_tick(), and receive_time_constraint_us().

◆ _receive_timestamp_idx

uint8_t PX4::PX4UARTDriver::_receive_timestamp_idx

private

Definition at line 93 of file UARTDriver.h.

Referenced by _timer_tick(), and receive_time_constraint_us().

◆ _semaphore

Semaphore PX4::PX4UARTDriver::_semaphore

private

Definition at line 95 of file UARTDriver.h.

Referenced by read(), and write().

◆ _total_read

uint32_t PX4::PX4UARTDriver::_total_read

private

Definition at line 87 of file UARTDriver.h.

Referenced by _read_fd().

◆ _total_written

uint32_t PX4::PX4UARTDriver::_total_written

private

Definition at line 88 of file UARTDriver.h.

Referenced by _write_fd(), and set_flow_control().

◆ _unbuffered_writes

bool PX4::PX4UARTDriver::_unbuffered_writes

private

Definition at line 70 of file UARTDriver.h.

Referenced by set_unbuffered_writes(), and write().

◆ _writebuf

ByteBuffer PX4::PX4UARTDriver::_writebuf {0}

private

Definition at line 75 of file UARTDriver.h.

Referenced by _timer_tick(), begin(), end(), txspace(), and write().

The documentation for this class was generated from the following files:

libraries/AP_HAL_PX4/UARTDriver.h
libraries/AP_HAL_PX4/UARTDriver.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PX4UARTDriver()

Member Function Documentation

◆ _get_fd()

◆ _read_fd()

◆ _timer_tick()

◆ _write_fd()

◆ available()

◆ begin() [1/2]

◆ begin() [2/2]

◆ configure_parity()

◆ end()

◆ flush()

◆ get_flow_control()

◆ is_initialized()

◆ read()

◆ receive_time_constraint_us()

◆ set_blocking_writes()

◆ set_device_path()

◆ set_flow_control()

◆ set_stop_bits()

◆ set_unbuffered_writes()

◆ try_initialise()

◆ tx_pending()

◆ txspace()

◆ write() [1/2]

◆ write() [2/2]

Member Data Documentation

◆ _baudrate

◆ _devpath

◆ _fd

◆ _first_write_time

◆ _flow_control

◆ _in_timer

◆ _initialised

◆ _is_usb

◆ _last_initialise_attempt_ms

◆ _last_write_time

◆ _nonblocking_writes

◆ _os_start_auto_space

◆ _perf_uart

◆ _readbuf

◆ _receive_timestamp

◆ _receive_timestamp_idx

◆ _semaphore

◆ _total_read

◆ _total_written

◆ _unbuffered_writes

◆ _writebuf