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AP_SerialManager: moved map_baudrate() into class

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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2015-01-29 15:47:36 +11:00
parent 085a926e61
commit d6ab4722cd
2 changed files with 42 additions and 0 deletions
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40
libraries/AP_SerialManager/AP_SerialManager.cpp
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@ -245,3 +245,43 @@ void AP_SerialManager::set_console_baud(enum SerialProtocol protocol) const
}
}
}
/*
* map from a 16 bit EEPROM baud rate to a real baud rate
* The practical rates for APM1/APM2 are up to 500kbaud, although
* beyond 115200 isn't recommended. For PX4 we can do 1.5MBit,
* although 921600 is more reliable
*/
uint32_t AP_SerialManager::map_baudrate(int32_t rate) const
{
if (rate <= 0) {
rate = 57;
}
switch (rate) {
case 1: return 1200;
case 2: return 2400;
case 4: return 4800;
case 9: return 9600;
case 19: return 19200;
case 38: return 38400;
case 57: return 57600;
case 100: return 100000;
case 111: return 111100;
case 115: return 115200;
case 230: return 230400;
case 460: return 460800;
case 500: return 500000;
case 921: return 921600;
case 1500: return 1500000;
}
if (rate > 2000) {
// assume it is a direct baudrate. This allows for users to
// set an exact baudrate as long as it is over 2000 baud
return (uint32_t)rate;
}
// otherwise allow any other kbaud rate
return rate*1000;
}

2
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -120,6 +120,8 @@ private:
// array of uart info
serial_state state[SERIALMANAGER_NUM_PORTS];
uint32_t map_baudrate(int32_t rate) const;
};
#endif // _AP_SERIALMANAGER_