#include <UARTDriver.h>

Inheritance diagram for VRBRAIN::VRBRAINUARTDriver:

Collaboration diagram for VRBRAIN::VRBRAINUARTDriver:

Public Member Functions
	VRBRAINUARTDriver (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)

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)

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)

virtual uint64_t	receive_time_constraint_us (uint16_t nbytes)

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

Semaphore	_semaphore

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

◆ VRBRAINUARTDriver()

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

Definition at line 23 of file UARTDriver.cpp.

Member Function Documentation

◆ _get_fd()

int VRBRAIN::VRBRAINUARTDriver::_get_fd ( void )

inline

Definition at line 36 of file UARTDriver.h.

Referenced by VRBRAIN::VRBRAINUtil::run_debug_shell().

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◆ _read_fd()

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

private

Definition at line 443 of file UARTDriver.cpp.

Referenced by _timer_tick().

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◆ _timer_tick()

void VRBRAINUARTDriver::_timer_tick ( void )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 470 of file UARTDriver.cpp.

Referenced by set_device_path().

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◆ _write_fd()

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

private

Definition at line 375 of file UARTDriver.cpp.

Referenced by _timer_tick(), and write().

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◆ available()

uint32_t VRBRAINUARTDriver::available ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 252 of file UARTDriver.cpp.

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◆ begin() [1/2]

void VRBRAINUARTDriver::begin ( uint32_t b )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 194 of file UARTDriver.cpp.

Referenced by try_initialise().

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◆ begin() [2/2]

void VRBRAINUARTDriver::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 VRBRAINUARTDriver::configure_parity ( uint8_t v )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 156 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ end()

void VRBRAINUARTDriver::end ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 221 of file UARTDriver.cpp.

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◆ flush()

void VRBRAINUARTDriver::flush ( void )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 234 of file UARTDriver.cpp.

◆ get_flow_control()

enum flow_control VRBRAIN::VRBRAINUARTDriver::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 VRBRAINUARTDriver::is_initialized ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 236 of file UARTDriver.cpp.

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◆ read()

int16_t VRBRAINUARTDriver::read ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 278 of file UARTDriver.cpp.

Referenced by _read_fd().

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◆ set_blocking_writes()

void VRBRAINUARTDriver::set_blocking_writes ( bool blocking )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 242 of file UARTDriver.cpp.

◆ set_device_path()

void VRBRAIN::VRBRAINUARTDriver::set_device_path ( const char * path )

inline

Definition at line 30 of file UARTDriver.h.

Referenced by HAL_VRBRAIN::run().

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◆ set_flow_control()

void VRBRAINUARTDriver::set_flow_control ( enum flow_control flow_control )

Definition at line 134 of file UARTDriver.cpp.

Referenced by _get_fd(), and _write_fd().

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◆ set_stop_bits()

void VRBRAINUARTDriver::set_stop_bits ( int n )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 178 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ set_unbuffered_writes()

bool VRBRAINUARTDriver::set_unbuffered_writes ( bool on )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 189 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ try_initialise()

void VRBRAINUARTDriver::try_initialise ( void )

private

Definition at line 206 of file UARTDriver.cpp.

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

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◆ tx_pending()

bool VRBRAINUARTDriver::tx_pending ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 247 of file UARTDriver.cpp.

◆ txspace()

uint32_t VRBRAINUARTDriver::txspace ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 265 of file UARTDriver.cpp.

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◆ write() [1/2]

size_t VRBRAINUARTDriver::write ( uint8_t c )

virtual

Implements AP_HAL::BetterStream.

Definition at line 302 of file UARTDriver.cpp.

Referenced by _write_fd(), and write().

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◆ write() [2/2]

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

virtual

Reimplemented from AP_HAL::BetterStream.

Definition at line 337 of file UARTDriver.cpp.

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Member Data Documentation

◆ _baudrate

uint32_t VRBRAIN::VRBRAINUARTDriver::_baudrate

private

Definition at line 50 of file UARTDriver.h.

Referenced by begin().

◆ _devpath

const char* VRBRAIN::VRBRAINUARTDriver::_devpath

private

Definition at line 48 of file UARTDriver.h.

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

◆ _fd

int VRBRAIN::VRBRAINUARTDriver::_fd

private

Definition at line 49 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 VRBRAIN::VRBRAINUARTDriver::_first_write_time

private

Definition at line 65 of file UARTDriver.h.

Referenced by _write_fd(), and set_flow_control().

◆ _flow_control

enum flow_control VRBRAIN::VRBRAINUARTDriver::_flow_control

private

Definition at line 74 of file UARTDriver.h.

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

◆ _in_timer

volatile bool VRBRAIN::VRBRAINUARTDriver::_in_timer

private

Definition at line 52 of file UARTDriver.h.

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

◆ _initialised

volatile bool VRBRAIN::VRBRAINUARTDriver::_initialised

private

Definition at line 51 of file UARTDriver.h.

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

◆ _last_initialise_attempt_ms

uint32_t VRBRAIN::VRBRAINUARTDriver::_last_initialise_attempt_ms

private

Definition at line 69 of file UARTDriver.h.

Referenced by try_initialise().

◆ _last_write_time

uint64_t VRBRAIN::VRBRAINUARTDriver::_last_write_time

private

Definition at line 66 of file UARTDriver.h.

Referenced by _write_fd().

◆ _nonblocking_writes

bool VRBRAIN::VRBRAINUARTDriver::_nonblocking_writes

private

Definition at line 54 of file UARTDriver.h.

Referenced by set_blocking_writes(), and write().

◆ _os_start_auto_space

uint32_t VRBRAIN::VRBRAINUARTDriver::_os_start_auto_space

private

Definition at line 71 of file UARTDriver.h.

Referenced by _write_fd().

◆ _perf_uart

perf_counter_t VRBRAIN::VRBRAINUARTDriver::_perf_uart

private

Definition at line 61 of file UARTDriver.h.

Referenced by _timer_tick().

◆ _readbuf

ByteBuffer VRBRAIN::VRBRAINUARTDriver::_readbuf {0}

private

Definition at line 59 of file UARTDriver.h.

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

◆ _semaphore

Semaphore VRBRAIN::VRBRAINUARTDriver::_semaphore

private

Definition at line 76 of file UARTDriver.h.

Referenced by read(), and write().

◆ _total_read

uint32_t VRBRAIN::VRBRAINUARTDriver::_total_read

private

Definition at line 72 of file UARTDriver.h.

Referenced by _read_fd().

◆ _total_written

uint32_t VRBRAIN::VRBRAINUARTDriver::_total_written

private

Definition at line 73 of file UARTDriver.h.

Referenced by _write_fd(), and set_flow_control().

◆ _unbuffered_writes

bool VRBRAIN::VRBRAINUARTDriver::_unbuffered_writes

private

Definition at line 55 of file UARTDriver.h.

Referenced by set_unbuffered_writes(), and write().

◆ _writebuf

ByteBuffer VRBRAIN::VRBRAINUARTDriver::_writebuf {0}

private

Definition at line 60 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_VRBRAIN/UARTDriver.h
libraries/AP_HAL_VRBRAIN/UARTDriver.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VRBRAINUARTDriver()

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()

◆ 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

◆ _last_initialise_attempt_ms

◆ _last_write_time

◆ _nonblocking_writes

◆ _os_start_auto_space

◆ _perf_uart

◆ _readbuf

◆ _semaphore

◆ _total_read

◆ _total_written

◆ _unbuffered_writes

◆ _writebuf