HAL_PX4: added a uartA driver

uses stdin/stdout for IO
This commit is contained in:
Andrew Tridgell 2013-01-03 11:03:05 +11:00
parent ed79e8c954
commit 9373a4e5b3
6 changed files with 139 additions and 15 deletions

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@ -5,6 +5,7 @@
namespace PX4 { namespace PX4 {
class PX4ConsoleDriver; class PX4ConsoleDriver;
class PX4Scheduler; class PX4Scheduler;
class PX4UARTDriver;
} }
#endif //__AP_HAL_PX4_NAMESPACE_H__ #endif //__AP_HAL_PX4_NAMESPACE_H__

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@ -3,14 +3,16 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <stdarg.h> #include <stdarg.h>
#include "Console.h" #include "Console.h"
#include "UARTDriver.h"
#include <stdio.h> #include <stdio.h>
using namespace PX4; using namespace PX4;
PX4ConsoleDriver::PX4ConsoleDriver() {} PX4ConsoleDriver::PX4ConsoleDriver() {}
void PX4ConsoleDriver::init(void* unused) void PX4ConsoleDriver::init(void* uart)
{ {
_uart = (PX4UARTDriver *)uart;
} }
void PX4ConsoleDriver::backend_open() void PX4ConsoleDriver::backend_open()
@ -38,44 +40,43 @@ void PX4ConsoleDriver::println_P(const prog_char_t *pstr) {
void PX4ConsoleDriver::printf(const char *fmt, ...) { void PX4ConsoleDriver::printf(const char *fmt, ...) {
va_list ap; va_list ap;
va_start(ap, fmt); va_start(ap, fmt);
vfprintf(stdout, fmt, ap); _uart->vprintf(fmt, ap);
va_end(ap); va_end(ap);
} }
void PX4ConsoleDriver::_printf_P(const prog_char *fmt, ...) { void PX4ConsoleDriver::_printf_P(const prog_char *fmt, ...) {
va_list ap; va_list ap;
va_start(ap,fmt); va_start(ap, fmt);
vfprintf(stdout, fmt, ap); _uart->vprintf(fmt, ap);
va_end(ap); va_end(ap);
} }
void PX4ConsoleDriver::vprintf(const char *fmt, va_list ap) { void PX4ConsoleDriver::vprintf(const char *fmt, va_list ap) {
vfprintf(stdout, fmt, ap); _uart->vprintf(fmt, ap);
} }
void PX4ConsoleDriver::vprintf_P(const prog_char *fmt, va_list ap) { void PX4ConsoleDriver::vprintf_P(const prog_char *fmt, va_list ap) {
vfprintf(stdout, fmt, ap); _uart->vprintf(fmt, ap);
} }
int16_t PX4ConsoleDriver::available() { int16_t PX4ConsoleDriver::available() {
return 0; return _uart->available();
} }
int16_t PX4ConsoleDriver::txspace() { int16_t PX4ConsoleDriver::txspace() {
return 0; return _uart->txspace();
} }
int16_t PX4ConsoleDriver::read() { int16_t PX4ConsoleDriver::read() {
return 0; return _uart->read();
} }
int16_t PX4ConsoleDriver::peek() { int16_t PX4ConsoleDriver::peek() {
return 0; return _uart->peek();
} }
size_t PX4ConsoleDriver::write(uint8_t c) { size_t PX4ConsoleDriver::write(uint8_t c) {
fputc(c, stdout); return _uart->write(c);
return 1;
} }
#endif #endif

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@ -27,6 +27,9 @@ public:
int16_t peek(); int16_t peek();
size_t write(uint8_t c); size_t write(uint8_t c);
private:
PX4UARTDriver *_uart;
}; };
#endif // __AP_HAL_PX4_CONSOLE_H__ #endif // __AP_HAL_PX4_CONSOLE_H__

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@ -9,6 +9,7 @@
#include "HAL_PX4_Class.h" #include "HAL_PX4_Class.h"
#include "Console.h" #include "Console.h"
#include "Scheduler.h" #include "Scheduler.h"
#include "UARTDriver.h"
#include <AP_HAL_Empty.h> #include <AP_HAL_Empty.h>
#include <AP_HAL_Empty_Private.h> #include <AP_HAL_Empty_Private.h>
@ -17,9 +18,6 @@
using namespace PX4; using namespace PX4;
static Empty::EmptyUARTDriver uartADriver;
static Empty::EmptyUARTDriver uartBDriver;
static Empty::EmptyUARTDriver uartCDriver;
static Empty::EmptyI2CDriver i2cDriver; static Empty::EmptyI2CDriver i2cDriver;
static Empty::EmptySPIDeviceManager spiDeviceManager; static Empty::EmptySPIDeviceManager spiDeviceManager;
static Empty::EmptyAnalogIn analogIn; static Empty::EmptyAnalogIn analogIn;
@ -32,6 +30,11 @@ static Empty::EmptyUtil utilInstance;
static PX4ConsoleDriver consoleDriver; static PX4ConsoleDriver consoleDriver;
static PX4Scheduler schedulerInstance; static PX4Scheduler schedulerInstance;
// only one real UART driver for now
static PX4UARTDriver uartADriver;
static Empty::EmptyUARTDriver uartBDriver;
static Empty::EmptyUARTDriver uartCDriver;
HAL_PX4::HAL_PX4() : HAL_PX4::HAL_PX4() :
AP_HAL::HAL( AP_HAL::HAL(
&uartADriver, /* uartA */ &uartADriver, /* uartA */

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@ -0,0 +1,78 @@
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "UARTDriver.h"
#include <stdio.h>
#include <unistd.h>
using namespace PX4;
PX4UARTDriver::PX4UARTDriver() {}
/*
this UART driver just maps to stdin/stdout, which goes to
whatever is setup for the PX4 console. Baud rate control is not
available.
*/
void PX4UARTDriver::begin(uint32_t b) {}
void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) {}
void PX4UARTDriver::end() {}
void PX4UARTDriver::flush() {}
bool PX4UARTDriver::is_initialized() { return true; }
void PX4UARTDriver::set_blocking_writes(bool blocking) {}
bool PX4UARTDriver::tx_pending() { return false; }
/* PX4 implementations of BetterStream virtual methods */
void PX4UARTDriver::print_P(const prog_char_t *pstr) {
print(pstr);
}
void PX4UARTDriver::println_P(const prog_char_t *pstr) {
println(pstr);
}
void PX4UARTDriver::printf(const char *fmt, ...) {
va_list ap;
va_start(ap, fmt);
vfprintf(stdout, fmt, ap);
va_end(ap);
}
void PX4UARTDriver::_printf_P(const prog_char *fmt, ...) {
va_list ap;
va_start(ap, fmt);
vfprintf(stdout, fmt, ap);
va_end(ap);
}
void PX4UARTDriver::vprintf(const char *fmt, va_list ap) {
vfprintf(stdout, fmt, ap);
}
void PX4UARTDriver::vprintf_P(const prog_char *fmt, va_list ap) {
vfprintf(stdout, fmt, ap);
}
/* PX4 implementations of Stream virtual methods */
int16_t PX4UARTDriver::available() { return 0; }
int16_t PX4UARTDriver::txspace() { return 128; }
int16_t PX4UARTDriver::read() {
uint8_t c;
if (fread(&c, 1, 1, stdin) == 1) {
return c;
}
return -1;
}
int16_t PX4UARTDriver::peek() {
return -1;
}
/* PX4 implementations of Print virtual methods */
size_t PX4UARTDriver::write(uint8_t c) {
return fwrite(&c, 1, 1, stdout);
}
#endif

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@ -0,0 +1,38 @@
#ifndef __AP_HAL_PX4_UARTDRIVER_H__
#define __AP_HAL_PX4_UARTDRIVER_H__
#include <AP_HAL_PX4.h>
class PX4::PX4UARTDriver : public AP_HAL::UARTDriver {
public:
PX4UARTDriver();
/* PX4 implementations of UARTDriver virtual methods */
void begin(uint32_t b);
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
void end();
void flush();
bool is_initialized();
void set_blocking_writes(bool blocking);
bool tx_pending();
/* PX4 implementations of BetterStream virtual methods */
void print_P(const prog_char_t *pstr);
void println_P(const prog_char_t *pstr);
void printf(const char *pstr, ...);
void _printf_P(const prog_char *pstr, ...);
void vprintf(const char* fmt, va_list ap);
void vprintf_P(const prog_char* fmt, va_list ap);
/* PX4 implementations of Stream virtual methods */
int16_t available();
int16_t txspace();
int16_t read();
int16_t peek();
/* PX4 implementations of Print virtual methods */
size_t write(uint8_t c);
};
#endif // __AP_HAL_PX4_UARTDRIVER_H__