uart.hpp

[詳解]

#pragma once
 
#include "main.h"
 
#include <cstddef>
#include <cstdint>
#include <unordered_map>
 
#include "cmsis_os2.h"
 
extern "C" int _write(int file, char *ptr, int len);
 
namespace tutrc_harurobo_lib {
 
class UART {
public:
  bool init(UART_HandleTypeDef *huart, size_t rx_queue_size = 64);
 
  bool transmit(const uint8_t *data, size_t size);
 
  bool receive(uint8_t *data, size_t size, uint32_t timeout);
 
  size_t available();
 
  void flush();
 
  void enable_printf();
 
private:
  UART_HandleTypeDef *huart_;
  osMutexId_t tx_mutex_;
  osMutexId_t rx_mutex_;
  osSemaphoreId_t tx_sem_;
  osSemaphoreId_t rx_sem_;
  osMutexId_t rx_queue_;
  uint8_t rx_buf_;
 
  static std::unordered_map<UART_HandleTypeDef *, UART *> instances_;
  static UART *uart_printf_;
  friend void ::HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
  friend void ::HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart);
  friend void ::HAL_UART_ErrorCallback(UART_HandleTypeDef *huart);
  friend int ::_write(int file, char *ptr, int len);
};
 
} // namespace tutrc_harurobo_lib