mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Common.cpp - common utility functions
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*/
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#include <AP_HAL.h>
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#include <AP_Common.h>
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extern const AP_HAL::HAL& hal;
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/*
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* map from a 16 bit EEPROM baud rate to a real baud rate
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* The practical rates for APM1/APM2 are up to 500kbaud, although
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* beyond 115200 isn't recommended. For PX4 we can do 1.5MBit,
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* although 921600 is more reliable
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*/
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uint32_t map_baudrate(int16_t rate)
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{
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if (rate <= 0) {
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rate = 57;
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}
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switch (rate) {
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case 1: return 1200;
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case 2: return 2400;
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case 4: return 4800;
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case 9: return 9600;
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case 19: return 19200;
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case 38: return 38400;
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case 57: return 57600;
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case 111: return 111100;
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case 115: return 115200;
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case 230: return 230400;
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case 460: return 460800;
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case 500: return 500000;
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case 921: return 921600;
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case 1500: return 1500000;
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}
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// allow any other kbaud rate
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return rate*1000;
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}
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