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GCS_MAVLink: update to new read_locked() API

This commit is contained in:
Andrew Tridgell 2023-07-07 18:46:52 +10:00
parent 25761c3a8e
commit 62b2fdb8f8
1 changed files with 4 additions and 11 deletions
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15
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -6451,34 +6451,27 @@ void GCS::passthru_timer(void)
if (_passthru.baud2 != baud && baud != 0) {
_passthru.baud2 = baud;
_passthru.port2->end();
_passthru.port2->begin_locked(baud, lock_key);
_passthru.port2->begin_locked(baud, 0, 0, lock_key);
}
baud = _passthru.port2->get_usb_baud();
if (_passthru.baud1 != baud && baud != 0) {
_passthru.baud1 = baud;
_passthru.port1->end();
_passthru.port1->begin_locked(baud, lock_key);
_passthru.port1->begin_locked(baud, 0, 0, lock_key);
}
uint8_t b;
uint8_t buf[64];
uint8_t nbytes = 0;
// read from port1, and write to port2
while (nbytes < sizeof(buf) && _passthru.port1->read_locked(lock_key, b)) {
buf[nbytes++] = b;
}
int16_t nbytes = _passthru.port1->read_locked(buf, sizeof(buf), lock_key);
if (nbytes > 0) {
_passthru.last_port1_data_ms = AP_HAL::millis();
_passthru.port2->write_locked(buf, nbytes, lock_key);
}
// read from port2, and write to port1
nbytes = 0;
while (nbytes < sizeof(buf) && _passthru.port2->read_locked(lock_key, b)) {
buf[nbytes++] = b;
}
nbytes = _passthru.port2->read_locked(buf, sizeof(buf), lock_key);
if (nbytes > 0) {
_passthru.port1->write_locked(buf, nbytes, lock_key);
}