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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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2dccd6cacb
* Made Serial API open the UART in NON BLOCKING mode * Updated voxl_esc driver to latest from ModalAI fork * Ported voxl_esc driver over to new Serial UART API * Removed voxl_esc serial abstraction since new Serial API is already a serial abstraction
121 lines
3.5 KiB
C++
121 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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#include <unistd.h>
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#include <px4_platform_common/SerialCommon.hpp>
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using device::SerialConfig::ByteSize;
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using device::SerialConfig::Parity;
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using device::SerialConfig::StopBits;
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using device::SerialConfig::FlowControl;
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namespace device
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{
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class SerialImpl
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{
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public:
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SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
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FlowControl flowcontrol);
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virtual ~SerialImpl();
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bool open();
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bool isOpen() const;
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bool close();
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ssize_t read(uint8_t *buffer, size_t buffer_size);
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ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
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ssize_t write(const void *buffer, size_t buffer_size);
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void flush();
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const char *getPort() const;
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static bool validatePort(const char *port);
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bool setPort(const char *port);
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uint32_t getBaudrate() const;
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bool setBaudrate(uint32_t baudrate);
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ByteSize getBytesize() const;
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bool setBytesize(ByteSize bytesize);
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Parity getParity() const;
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bool setParity(Parity parity);
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StopBits getStopbits() const;
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bool setStopbits(StopBits stopbits);
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FlowControl getFlowcontrol() const;
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bool setFlowcontrol(FlowControl flowcontrol);
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bool getSingleWireMode() const;
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bool setSingleWireMode();
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bool getSwapRxTxMode() const;
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bool setSwapRxTxMode();
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bool getInvertedMode() const;
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bool setInvertedMode(bool enable);
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private:
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int _serial_fd{-1};
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bool _open{false};
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char _port[32] {};
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uint32_t _baudrate{0};
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ByteSize _bytesize{ByteSize::EightBits};
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Parity _parity{Parity::None};
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StopBits _stopbits{StopBits::One};
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FlowControl _flowcontrol{FlowControl::Disabled};
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bool configure();
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bool _single_wire_mode{false};
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bool _swap_rx_tx_mode{false};
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bool _inverted_mode{false};
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};
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} // namespace device
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