Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: support up to 9 UARTs

Browse Source
This commit is contained in:
Andrew Tridgell 2021-11-05 14:17:40 +11:00 committed by Peter Barker
parent 018ac68061
commit 3b3abdeef0
2 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
View File

@ -63,6 +63,7 @@ static UARTDriver sitlUart5Driver(5, &sitlState);
static UARTDriver sitlUart6Driver(6, &sitlState); static UARTDriver sitlUart6Driver(6, &sitlState);
static UARTDriver sitlUart7Driver(7, &sitlState); static UARTDriver sitlUart7Driver(7, &sitlState);
static UARTDriver sitlUart8Driver(8, &sitlState); static UARTDriver sitlUart8Driver(8, &sitlState);
static UARTDriver sitlUart9Driver(9, &sitlState);
#if defined(HAL_BUILD_AP_PERIPH) #if defined(HAL_BUILD_AP_PERIPH)
static Empty::I2CDeviceManager i2c_mgr_instance; static Empty::I2CDeviceManager i2c_mgr_instance;
@ -90,6 +91,7 @@ HAL_SITL::HAL_SITL() :
&sitlUart6Driver, /* uartG */ &sitlUart6Driver, /* uartG */
&sitlUart7Driver, /* uartH */ &sitlUart7Driver, /* uartH */
&sitlUart8Driver, /* uartI */ &sitlUart8Driver, /* uartI */
&sitlUart9Driver, /* uartJ */
&i2c_mgr_instance, &i2c_mgr_instance,
&spi_mgr_instance, /* spi */ &spi_mgr_instance, /* spi */
&qspi_mgr_instance, &qspi_mgr_instance,

8
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -96,6 +96,7 @@ void SITL_State::_usage(void)
"\t--uartG device set device string for UARTG\n" "\t--uartG device set device string for UARTG\n"
"\t--uartH device set device string for UARTH\n" "\t--uartH device set device string for UARTH\n"
"\t--uartI device set device string for UARTI\n" "\t--uartI device set device string for UARTI\n"
"\t--uartJ device set device string for UARTJ\n"
"\t--serial0 device set device string for SERIAL0\n" "\t--serial0 device set device string for SERIAL0\n"
"\t--serial1 device set device string for SERIAL1\n" "\t--serial1 device set device string for SERIAL1\n"
"\t--serial2 device set device string for SERIAL2\n" "\t--serial2 device set device string for SERIAL2\n"
@ -105,6 +106,7 @@ void SITL_State::_usage(void)
"\t--serial6 device set device string for SERIAL6\n" "\t--serial6 device set device string for SERIAL6\n"
"\t--serial7 device set device string for SERIAL7\n" "\t--serial7 device set device string for SERIAL7\n"
"\t--serial8 device set device string for SERIAL8\n" "\t--serial8 device set device string for SERIAL8\n"
"\t--serial9 device set device string for SERIAL9\n"
"\t--rtscts enable rtscts on serial ports (default false)\n" "\t--rtscts enable rtscts on serial ports (default false)\n"
"\t--base-port PORT set port num for base port(default 5670) must be before -I option\n" "\t--base-port PORT set port num for base port(default 5670) must be before -I option\n"
"\t--rc-in-port PORT set port num for rc in\n" "\t--rc-in-port PORT set port num for rc in\n"
@ -245,6 +247,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
CMDLINE_UARTG, CMDLINE_UARTG,
CMDLINE_UARTH, CMDLINE_UARTH,
CMDLINE_UARTI, CMDLINE_UARTI,
CMDLINE_UARTJ,
CMDLINE_SERIAL0, CMDLINE_SERIAL0,
CMDLINE_SERIAL1, CMDLINE_SERIAL1,
CMDLINE_SERIAL2, CMDLINE_SERIAL2,
@ -254,6 +257,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
CMDLINE_SERIAL6, CMDLINE_SERIAL6,
CMDLINE_SERIAL7, CMDLINE_SERIAL7,
CMDLINE_SERIAL8, CMDLINE_SERIAL8,
CMDLINE_SERIAL9,
CMDLINE_RTSCTS, CMDLINE_RTSCTS,
CMDLINE_BASE_PORT, CMDLINE_BASE_PORT,
CMDLINE_RCIN_PORT, CMDLINE_RCIN_PORT,
@ -302,6 +306,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"uartG", true, 0, CMDLINE_UARTG}, {"uartG", true, 0, CMDLINE_UARTG},
{"uartH", true, 0, CMDLINE_UARTH}, {"uartH", true, 0, CMDLINE_UARTH},
{"uartI", true, 0, CMDLINE_UARTI}, {"uartI", true, 0, CMDLINE_UARTI},
{"uartJ", true, 0, CMDLINE_UARTJ},
{"serial0", true, 0, CMDLINE_SERIAL0}, {"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1}, {"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2}, {"serial2", true, 0, CMDLINE_SERIAL2},
@ -311,6 +316,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"serial6", true, 0, CMDLINE_SERIAL6}, {"serial6", true, 0, CMDLINE_SERIAL6},
{"serial7", true, 0, CMDLINE_SERIAL7}, {"serial7", true, 0, CMDLINE_SERIAL7},
{"serial8", true, 0, CMDLINE_SERIAL8}, {"serial8", true, 0, CMDLINE_SERIAL8},
{"serial9", true, 0, CMDLINE_SERIAL9},
{"rtscts", false, 0, CMDLINE_RTSCTS}, {"rtscts", false, 0, CMDLINE_RTSCTS},
{"base-port", true, 0, CMDLINE_BASE_PORT}, {"base-port", true, 0, CMDLINE_BASE_PORT},
{"rc-in-port", true, 0, CMDLINE_RCIN_PORT}, {"rc-in-port", true, 0, CMDLINE_RCIN_PORT},
@ -434,6 +440,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_UARTG: case CMDLINE_UARTG:
case CMDLINE_UARTH: case CMDLINE_UARTH:
case CMDLINE_UARTI: case CMDLINE_UARTI:
case CMDLINE_UARTJ:
_uart_path[opt - CMDLINE_UARTA] = gopt.optarg; _uart_path[opt - CMDLINE_UARTA] = gopt.optarg;
break; break;
case CMDLINE_SERIAL0: case CMDLINE_SERIAL0:
@ -445,6 +452,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_SERIAL6: case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7: case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8: case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9:
_uart_path[opt - CMDLINE_SERIAL0] = gopt.optarg; _uart_path[opt - CMDLINE_SERIAL0] = gopt.optarg;
break; break;
case CMDLINE_RTSCTS: case CMDLINE_RTSCTS: