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AP_HAL_Linux: Improve the self-documentation and configuration of serial ports for the Linux HAL

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This commit is contained in:
Neil Bertram 2022-09-20 22:31:27 +12:00 committed by Peter Barker
parent 9314163bb0
commit dcafaf3ab2
1 changed files with 33 additions and 11 deletions
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44
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -63,7 +63,7 @@ static UtilRPI utilInstance;
static Util utilInstance; static Util utilInstance;
#endif #endif
// 5 serial ports on Linux // 9 serial ports on Linux
static UARTDriver uartADriver(true); static UARTDriver uartADriver(true);
static UARTDriver uartCDriver(false); static UARTDriver uartCDriver(false);
static UARTDriver uartDDriver(false); static UARTDriver uartDDriver(false);
@ -275,18 +275,30 @@ HAL_Linux::HAL_Linux() :
void _usage(void) void _usage(void)
{ {
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath -H uartHpath -I uartIpath -J uartJpath\n"); printf("Usage: --serial0 serial0Path --serial1 serial2Path \n");
printf("Options:\n"); printf("Options:\n");
printf("\tserial:\n"); printf("\tserial (0 through 9 available):\n");
printf(" -A /dev/ttyO4\n"); printf("\t --serial0 /dev/ttyO4\n");
printf("\t -B /dev/ttyS1\n"); printf("\t --serial3 /dev/ttyS1\n");
printf("\tlegacy UART options still work, their mappings are:\n");
printf("\t -A/--uartA is SERIAL0\n");
printf("\t -B/--uartB is SERIAL3\n");
printf("\t -C/--uartC is SERIAL1\n");
printf("\t -D/--uartD is SERIAL2\n");
printf("\t -E/--uartE is SERIAL4\n");
printf("\t -F/--uartF is SERIAL5\n");
printf("\t -G/--uartG is SERIAL6\n");
printf("\t -H/--uartH is SERIAL7\n");
printf("\t -I/--uartI is SERIAL8\n");
printf("\t -J/--uartJ is SERIAL9\n");
printf("\tnetworking tcp:\n"); printf("\tnetworking tcp:\n");
printf("\t -C tcp:192.168.2.15:1243:wait\n"); printf("\t --serial1 tcp:192.168.2.15:1243:wait\n");
printf("\t -A tcp:11.0.0.2:5678\n"); printf("\t --serial0 tcp:11.0.0.2:5678\n");
printf("\t -A udp:11.0.0.2:14550\n"); printf("\t --serial0 udp:11.0.0.2:14550\n");
printf("\t --serial0 udp:11.0.0.2:14550\n");
printf("\tnetworking UDP:\n"); printf("\tnetworking UDP:\n");
printf("\t -A udp:11.0.0.255:14550:bcast\n"); printf("\t --serial0 udp:11.0.0.255:14550:bcast\n");
printf("\t -A udpin:0.0.0.0:14550\n"); printf("\t --serial0 udpin:0.0.0.0:14550\n");
printf("\tcustom log path:\n"); printf("\tcustom log path:\n");
printf("\t --log-directory /var/APM/logs\n"); printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n"); printf("\t -l /var/APM/logs\n");
@ -315,15 +327,25 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
int opt; int opt;
const struct GetOptLong::option options[] = { const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'}, {"uartA", true, 0, 'A'},
{"serial0", true, 0, 'A'},
{"uartB", true, 0, 'B'}, {"uartB", true, 0, 'B'},
{"serial3", true, 0, 'B'},
{"uartC", true, 0, 'C'}, {"uartC", true, 0, 'C'},
{"serial1", true, 0, 'C'},
{"uartD", true, 0, 'D'}, {"uartD", true, 0, 'D'},
{"serial2", true, 0, 'D'},
{"uartE", true, 0, 'E'}, {"uartE", true, 0, 'E'},
{"serial4", true, 0, 'E'},
{"uartF", true, 0, 'F'}, {"uartF", true, 0, 'F'},
{"serial5", true, 0, 'F'},
{"uartG", true, 0, 'G'}, {"uartG", true, 0, 'G'},
{"serial6", true, 0, 'G'},
{"uartH", true, 0, 'H'}, {"uartH", true, 0, 'H'},
{"serial7", true, 0, 'H'},
{"uartI", true, 0, 'I'}, {"uartI", true, 0, 'I'},
{"serial8", true, 0, 'I'},
{"uartJ", true, 0, 'J'}, {"uartJ", true, 0, 'J'},
{"serial9", true, 0, 'J'},
{"log-directory", true, 0, 'l'}, {"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'}, {"terrain-directory", true, 0, 't'},
{"storage-directory", true, 0, 's'}, {"storage-directory", true, 0, 's'},
@ -334,7 +356,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{0, false, 0, 0} {0, false, 0, 0}
}; };
GetOptLong gopt(argc, argv, "A:B:C:D:E:F:G:H:l:t:s:he:SM:c:", GetOptLong gopt(argc, argv, "A:B:C:D:E:F:G:H:I:J:l:t:s:he:SM:c:",
options); options);
/* /*