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AP_HAL_Linux: support uartI, allowing a total of 9 uarts

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this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
This commit is contained in:
Andrew Tridgell 2020-11-26 17:49:00 +11:00
parent 68fdf033ee
commit 78711e05b7
2 changed files with 9 additions and 1 deletions
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9
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -69,6 +69,7 @@ static UARTDriver uartEDriver(false);
static UARTDriver uartFDriver(false); static UARTDriver uartFDriver(false);
static UARTDriver uartGDriver(false); static UARTDriver uartGDriver(false);
static UARTDriver uartHDriver(false); static UARTDriver uartHDriver(false);
static UARTDriver uartIDriver(false);
static I2CDeviceManager i2c_mgr_instance; static I2CDeviceManager i2c_mgr_instance;
static SPIDeviceManager spi_mgr_instance; static SPIDeviceManager spi_mgr_instance;
@ -233,6 +234,7 @@ HAL_Linux::HAL_Linux() :
&uartFDriver, &uartFDriver,
&uartGDriver, &uartGDriver,
&uartHDriver, &uartHDriver,
&uartIDriver,
&i2c_mgr_instance, &i2c_mgr_instance,
&spi_mgr_instance, &spi_mgr_instance,
&analogIn, &analogIn,
@ -256,7 +258,7 @@ HAL_Linux::HAL_Linux() :
void _usage(void) void _usage(void)
{ {
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath -H uartHpath\n"); printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath -H uartHpath -I uartIpath\n");
printf("Options:\n"); printf("Options:\n");
printf("\tserial:\n"); printf("\tserial:\n");
printf(" -A /dev/ttyO4\n"); printf(" -A /dev/ttyO4\n");
@ -302,6 +304,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{"uartF", true, 0, 'F'}, {"uartF", true, 0, 'F'},
{"uartG", true, 0, 'G'}, {"uartG", true, 0, 'G'},
{"uartH", true, 0, 'H'}, {"uartH", true, 0, 'H'},
{"uartI", true, 0, 'I'},
{"log-directory", true, 0, 'l'}, {"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'}, {"terrain-directory", true, 0, 't'},
{"storage-directory", true, 0, 's'}, {"storage-directory", true, 0, 's'},
@ -342,6 +345,9 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
case 'H': case 'H':
uartHDriver.set_device_path(gopt.optarg); uartHDriver.set_device_path(gopt.optarg);
break; break;
case 'I':
uartIDriver.set_device_path(gopt.optarg);
break;
case 'l': case 'l':
utilInstance.set_custom_log_directory(gopt.optarg); utilInstance.set_custom_log_directory(gopt.optarg);
break; break;
@ -376,6 +382,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
uartF->begin(115200); uartF->begin(115200);
uartG->begin(115200); uartG->begin(115200);
uartH->begin(115200); uartH->begin(115200);
uartI->begin(115200);
analogin->init(); analogin->init();
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]); utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);

1
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -263,6 +263,7 @@ void Scheduler::_run_uarts()
hal.uartF->_timer_tick(); hal.uartF->_timer_tick();
hal.uartG->_timer_tick(); hal.uartG->_timer_tick();
hal.uartH->_timer_tick(); hal.uartH->_timer_tick();
hal.uartI->_timer_tick();
} }
void Scheduler::_rcin_task() void Scheduler::_rcin_task()