From 6b7934994716ed44b56776e40037eb0669207ca0 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Sun, 10 Dec 2023 11:33:12 -0600 Subject: [PATCH] AP_HAL_ESP32: eliminate legacy UART ordering/references --- libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp | 41 +++++++++++----------- 1 file changed, 20 insertions(+), 21 deletions(-) diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp index 096c8ab47a..bedff42e98 100644 --- a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp +++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp @@ -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,