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AP_HAL_ESP32: eliminate legacy UART ordering/references

This commit is contained in:
Thomas Watson 2023-12-10 11:33:12 -06:00 committed by Andrew Tridgell
parent 20ee5b2d37
commit 6b79349947
1 changed files with 20 additions and 21 deletions
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41
libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
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@ -30,25 +30,24 @@
#include "Util.h"
static Empty::UARTDriver uartADriver;
static ESP32::UARTDriver cons(0);
static ESP32::UARTDriver uartBDriver(1);
#ifdef HAL_ESP32_WIFI
#if HAL_ESP32_WIFI == 1
static ESP32::WiFiDriver uartCDriver; //tcp, client should connect to 192.168.4.1 port 5760
static ESP32::WiFiDriver serial1Driver; //tcp, client should connect to 192.168.4.1 port 5760
#elif HAL_ESP32_WIFI == 2
static ESP32::WiFiUdpDriver uartCDriver; //udp
static ESP32::WiFiUdpDriver serial1Driver; //udp
#endif
#else
static Empty::UARTDriver uartCDriver;
static Empty::UARTDriver serial1Driver;
#endif
static ESP32::UARTDriver uartDDriver(2);
static Empty::UARTDriver uartEDriver;
static Empty::UARTDriver uartFDriver;
static Empty::UARTDriver uartGDriver;
static Empty::UARTDriver uartHDriver;
static Empty::UARTDriver uartIDriver;
static Empty::UARTDriver uartJDriver;
static ESP32::UARTDriver serial2Driver(2);
static ESP32::UARTDriver serial3Driver(1);
static Empty::UARTDriver serial4Driver;
static Empty::UARTDriver serial5Driver;
static Empty::UARTDriver serial6Driver;
static Empty::UARTDriver serial7Driver;
static Empty::UARTDriver serial8Driver;
static Empty::UARTDriver serial9Driver;
static Empty::DSP dspDriver;
@ -73,15 +72,15 @@ extern const AP_HAL::HAL& hal;
HAL_ESP32::HAL_ESP32() :
AP_HAL::HAL(
&cons, //Console/mavlink
&uartCDriver, //Telem 1, ordering captures the historical use of uartB as SERIAL3
&uartDDriver, //Telem 2
&uartBDriver, //GPS 1
&uartEDriver, //GPS 2
&uartFDriver, //Extra 1
&uartGDriver, //Extra 2
&uartHDriver, //Extra 3
&uartIDriver, //Extra 4
&uartJDriver, //Extra 5
&serial1Driver, //Telem 1
&serial2Driver, //Telem 2
&serial3Driver, //GPS 1
&serial4Driver, //GPS 2
&serial5Driver, //Extra 1
&serial6Driver, //Extra 2
&serial7Driver, //Extra 3
&serial8Driver, //Extra 4
&serial9Driver, //Extra 5
&i2cDeviceManager,
&spiDeviceManager,
nullptr,