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HAL_PX4: use fd IO instead of stdio 

this allows for hal console output from within timers, which is very
handy for debugging
This commit is contained in:
Andrew Tridgell 2013-01-03 13:16:41 +11:00
parent c6305b5876
commit d9d5eb52bf
2 changed files with 19 additions and 9 deletions
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25
libraries/AP_HAL_PX4/UARTDriver.cpp
View File

@ -10,9 +10,8 @@ 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.
this UART driver just maps to fd 0/1, which goes to whatever is
setup for the PX4 console. Baud rate control is not available.
*/
void PX4UARTDriver::begin(uint32_t b) {}
@ -35,23 +34,23 @@ void PX4UARTDriver::println_P(const prog_char_t *pstr) {
void PX4UARTDriver::printf(const char *fmt, ...) {
va_list ap;
va_start(ap, fmt);
vfprintf(stdout, fmt, ap);
_vdprintf(1, fmt, ap);
va_end(ap);
}
void PX4UARTDriver::_printf_P(const prog_char *fmt, ...) {
va_list ap;
va_start(ap, fmt);
vfprintf(stdout, fmt, ap);
_vdprintf(1, fmt, ap);
va_end(ap);
}
void PX4UARTDriver::vprintf(const char *fmt, va_list ap) {
vfprintf(stdout, fmt, ap);
_vdprintf(1, fmt, ap);
}
void PX4UARTDriver::vprintf_P(const prog_char *fmt, va_list ap) {
vfprintf(stdout, fmt, ap);
_vdprintf(1, fmt, ap);
}
/* PX4 implementations of Stream virtual methods */
@ -60,7 +59,7 @@ int16_t PX4UARTDriver::txspace() { return 128; }
int16_t PX4UARTDriver::read() {
uint8_t c;
if (fread(&c, 1, 1, stdin) == 1) {
if (::read(0, &c, 1) == 1) {
return c;
}
return -1;
@ -72,7 +71,15 @@ int16_t PX4UARTDriver::peek() {
/* PX4 implementations of Print virtual methods */
size_t PX4UARTDriver::write(uint8_t c) {
return fwrite(&c, 1, 1, stdout);
return ::write(1, &c, 1);
}
void PX4UARTDriver::_vdprintf(int fd, const char *fmt, va_list ap) {
char buf[128];
int len = vsnprintf(buf, sizeof(buf), fmt, ap);
if (len > 0) {
::write(1, buf, len);
}
}
#endif

3
libraries/AP_HAL_PX4/UARTDriver.h
View File

@ -33,6 +33,9 @@ public:
/* PX4 implementations of Print virtual methods */
size_t write(uint8_t c);
private:
void _vdprintf(int fd, const char *fmt, va_list ap);
};
#endif // __AP_HAL_PX4_UARTDRIVER_H__