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AP_HAL_SMACCM: Fix pin conflict between uartC and I2C.

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- uartC is currently disconnected.
- Set uartB to USART6 for GPS communication.
This commit is contained in:
James Bielman 2013-01-08 10:33:50 -08:00 committed by Pat Hickey
parent 7827a4a54a
commit 46b0742710
2 changed files with 29 additions and 7 deletions
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4
libraries/AP_HAL_SMACCM/HAL_SMACCM_Class.cpp
View File

@ -8,8 +8,8 @@ using namespace SMACCM;
// XXX make sure these are assigned correctly
static SMACCMUARTDriver uartADriver(usart1);
static SMACCMUARTDriver uartBDriver(usart2);
static SMACCMUARTDriver uartCDriver(usart3);
static SMACCMUARTDriver uartBDriver(usart6);
static SMACCMUARTDriver uartCDriver(NULL);
static SMACCMI2CDriver i2cDriver;
static SMACCMSPIDeviceManager spiDeviceManager;

32
libraries/AP_HAL_SMACCM/UARTDriver.cpp
View File

@ -23,8 +23,11 @@ SMACCMUARTDriver::SMACCMUARTDriver(struct usart *dev)
void SMACCMUARTDriver::begin(uint32_t baud)
{
usart_init(m_dev, baud);
usart_enable(m_dev);
if (m_dev != NULL) {
usart_init(m_dev, baud);
usart_enable(m_dev);
}
m_initialized = true;
}
@ -58,7 +61,11 @@ void SMACCMUARTDriver::set_blocking_writes(bool blocking)
bool SMACCMUARTDriver::tx_pending()
{
return usart_is_tx_pending(m_dev);
if (m_dev != NULL) {
return usart_is_tx_pending(m_dev);
}
return false;
}
/* SMACCM implementations of BetterStream virtual methods */
@ -107,12 +114,18 @@ void SMACCMUARTDriver::vprintf_P(const prog_char *pstr, va_list ap)
/* SMACCM implementations of Stream virtual methods */
int16_t SMACCMUARTDriver::available()
{
return (int16_t)usart_available(m_dev);
if (m_dev != NULL)
return (int16_t)usart_available(m_dev);
return 0;
}
int16_t SMACCMUARTDriver::txspace()
{
return (int16_t)usart_txspace(m_dev);
if (m_dev != NULL)
return (int16_t)usart_txspace(m_dev);
return 0;
}
// It looks like this should always be a non-blocking read, so return
@ -121,6 +134,9 @@ int16_t SMACCMUARTDriver::read()
{
uint8_t c;
if (m_dev == NULL)
return -1;
if (usart_read_timeout(m_dev, 0, &c, 1) == 0)
return -1;
@ -131,6 +147,9 @@ int16_t SMACCMUARTDriver::peek()
{
uint8_t c;
if (m_dev == NULL)
return -1;
if (!usart_peek(m_dev, &c))
return -1;
@ -140,6 +159,9 @@ int16_t SMACCMUARTDriver::peek()
/* SMACCM implementations of Print virtual methods */
size_t SMACCMUARTDriver::write(uint8_t c)
{
if (m_dev == NULL)
return 1;
portTickType delay = m_blocking ? portMAX_DELAY : 0;
return usart_write_timeout(m_dev, delay, &c, 1);
}