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AP_Common: moved map_baudrate() into AP_Common

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this version supports a much wider range of baudrates
This commit is contained in:
Andrew Tridgell 2014-05-21 12:37:11 +10:00
parent 7d712f90bf
commit 42c1501563
2 changed files with 59 additions and 0 deletions
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56
libraries/AP_Common/AP_Common.cpp Normal file
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@ -0,0 +1,56 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_Common.cpp - common utility functions
*/
#include <AP_HAL.h>
#include <AP_Common.h>
extern const AP_HAL::HAL& hal;
/*
* map from a 16 bit EEPROM baud rate to a real baud rate
* The practical rates for APM1/APM2 are up to 500kbaud, although
* beyond 115200 isn't recommended. For PX4 we can do 1.5MBit,
* although 921600 is more reliable
*/
uint32_t map_baudrate(int16_t rate)
{
if (rate <= 0) {
rate = 57;
}
switch (rate) {
case 1: return 1200;
case 2: return 2400;
case 4: return 4800;
case 9: return 9600;
case 19: return 19200;
case 38: return 38400;
case 57: return 57600;
case 111: return 111100;
case 115: return 115200;
case 230: return 230400;
case 460: return 460800;
case 500: return 500000;
case 921: return 921600;
case 1500: return 1500000;
}
// allow any other kbaud rate
return rate*1000;
}

3
libraries/AP_Common/AP_Common.h
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@ -143,4 +143,7 @@ struct PACKED Location {
#define AP_PRODUCT_ID_L3G4200D 0x101 // Linux with L3G4200D and ADXL345 #define AP_PRODUCT_ID_L3G4200D 0x101 // Linux with L3G4200D and ADXL345
#define AP_PRODUCT_ID_VRBRAIN 0x150 // VRBRAIN on NuttX #define AP_PRODUCT_ID_VRBRAIN 0x150 // VRBRAIN on NuttX
// map from kbaud rate to baudrate
uint32_t map_baudrate(int16_t rate);
#endif // _AP_COMMON_H #endif // _AP_COMMON_H