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AP_HAL: move serial re-mapping to driver array initialization 

Saves a bit of flash and execution time.
This commit is contained in:
Thomas Watson 2023-11-20 20:04:06 -06:00 committed by Andrew Tridgell
parent de45437704
commit 8747ae539f
2 changed files with 7 additions and 9 deletions
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7
libraries/AP_HAL/HAL.cpp
View File

@ -15,11 +15,8 @@ HAL::FunCallbacks::FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void))
// access serial ports using SERIALn numbering // access serial ports using SERIALn numbering
AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
{ {
// this mapping captures the historical use of uartB as SERIAL3 if (sernum >= ARRAY_SIZE(serial_array)) {
const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
static_assert(sizeof(mapping) == ARRAY_SIZE(uart_array), "array size must match mapping");
if (sernum >= ARRAY_SIZE(uart_array)) {
return nullptr; return nullptr;
} }
return uart_array[mapping[sernum]]; return serial_array[sernum];
} }

9
libraries/AP_HAL/HAL.h
View File

@ -53,11 +53,11 @@ public:
AP_HAL::CANIface** _can_ifaces) AP_HAL::CANIface** _can_ifaces)
#endif #endif
: :
uart_array{ serial_array{
_uartA, _uartA,
_uartB, _uartC, // ordering captures the historical use of uartB as SERIAL3
_uartC,
_uartD, _uartD,
_uartB,
_uartE, _uartE,
_uartF, _uartF,
_uartG, _uartG,
@ -140,7 +140,8 @@ public:
static constexpr uint8_t num_serial = 10; static constexpr uint8_t num_serial = 10;
private: private:
AP_HAL::UARTDriver* uart_array[num_serial]; // UART drivers in SERIALn_ order
AP_HAL::UARTDriver* serial_array[num_serial];
public: public:
#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL #if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL