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