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HAL_Linux: added uartF

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This commit is contained in:
Andrew Tridgell 2016-04-19 13:47:25 +10:00
parent 543604731f
commit c7dabad02c
2 changed files with 10 additions and 2 deletions
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11
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -43,6 +43,7 @@ static UARTDriver uartCDriver(false);
#endif
static UARTDriver uartDDriver(false);
static UARTDriver uartEDriver(false);
static UARTDriver uartFDriver(false);
static I2CDeviceManager i2c_mgr_instance;
@ -201,6 +202,7 @@ HAL_Linux::HAL_Linux() :
&uartCDriver,
&uartDDriver,
&uartEDriver,
&uartFDriver,
&i2c_mgr_instance,
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
&i2cDriver0,
@ -229,7 +231,7 @@ HAL_Linux::HAL_Linux() :
void _usage(void)
{
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath\n");
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath\n");
printf("Options:\n");
printf("\t-serial: -A /dev/ttyO4\n");
printf("\t -B /dev/ttyS1\n");
@ -255,6 +257,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{"uartC", true, 0, 'C'},
{"uartD", true, 0, 'D'},
{"uartE", true, 0, 'E'},
{"uartF", true, 0, 'F'},
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
{"dsm", true, 0, 'S'},
{"ESC", true, 0, 'e'},
@ -265,7 +268,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "A:B:C:D:E:l:t:he:S",
GetOptLong gopt(argc, argv, "A:B:C:D:E:F:l:t:he:S",
options);
/*
@ -288,6 +291,9 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
case 'E':
uartEDriver.set_device_path(gopt.optarg);
break;
case 'F':
uartFDriver.set_device_path(gopt.optarg);
break;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
case 'e':
rcoutDriver.set_device_path(gopt.optarg);
@ -328,6 +334,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
rcin->init();
uartA->begin(115200);
uartE->begin(115200);
uartF->begin(115200);
analogin->init();
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);

1
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -346,6 +346,7 @@ void Scheduler::_run_uarts()
UARTDriver::from(hal.uartC)->_timer_tick();
#endif
UARTDriver::from(hal.uartE)->_timer_tick();
UARTDriver::from(hal.uartF)->_timer_tick();
}
void Scheduler::_rcin_task()