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AP_HAL: added hal.serial() access to uarts

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this gives access to serial ports in the SERIALn_ order. It is inlined
by the compiler so using hal.uartB and hal.serial(3) generates
idential code on stm32 (tested on H7).

This is a step towards eliminating hal.uartX completely and the
horrible uartB ordering
This commit is contained in:
Andrew Tridgell 2020-12-11 11:18:03 +11:00
parent 4ec1c2ea67
commit 8678759da4
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_HAL/HAL.h
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@ -101,6 +101,7 @@ public:
virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;
// the uartX ports must be contiguous in ram for the serial() method to work
AP_HAL::UARTDriver* uartA;
AP_HAL::UARTDriver* uartB;
AP_HAL::UARTDriver* uartC;
@ -128,4 +129,15 @@ public:
#else
AP_HAL::CANIface** can;
#endif
// access to serial ports using SERIALn_ numbering
UARTDriver* serial(uint8_t sernum) const {
UARTDriver **uart_array = const_cast<UARTDriver**>(&uartA);
// this mapping captures the historical use of uartB as SERIAL3
const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8 };
if (sernum >= ARRAY_SIZE(mapping)) {
return nullptr;
}
return uart_array[mapping[sernum]];
}
};