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AP_HAL_Linux: made UARTDriver use ConsoleDevice

This commit is contained in:
Staroselskii Georgii 2015-06-12 02:20:22 +03:00 committed by Andrew Tridgell
parent a9c9d91f09
commit de6b2b4bce
1 changed files with 9 additions and 10 deletions
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19
libraries/AP_HAL_Linux/UARTDriver.cpp
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@ -26,6 +26,7 @@
#include "UARTDevice.h"
#include "UDPDevice.h"
#include "ConsoleDevice.h"
extern const AP_HAL::HAL& hal;
@ -39,8 +40,8 @@ LinuxUARTDriver::LinuxUARTDriver(bool default_console) :
_flow_control(FLOW_CONTROL_DISABLE)
{
if (default_console) {
_rd_fd = 0;
_wr_fd = 1;
_device = new ConsoleDevice();
_device->open();
_console = true;
}
}
@ -64,10 +65,9 @@ void LinuxUARTDriver::begin(uint32_t b)
void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
if (device_path == NULL && _console) {
_rd_fd = STDIN_FILENO;
_wr_fd = STDOUT_FILENO;
fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK);
fcntl(_wr_fd, F_SETFL, fcntl(_wr_fd, F_GETFL, 0) | O_NONBLOCK);
_device = new ConsoleDevice();
_device->open();
_device->set_blocking(false);
} else if (!_initialised) {
if (device_path == NULL) {
return;
@ -114,10 +114,9 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
// Notify that the option is not valid and select standart input and output
::printf("LinuxUARTDriver parsing failed, using default\n");
_rd_fd = STDIN_FILENO;
_wr_fd = STDOUT_FILENO;
fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK);
fcntl(_wr_fd, F_SETFL, fcntl(_wr_fd, F_GETFL, 0) | O_NONBLOCK);
_device = new ConsoleDevice();
_device->open();
_device->set_blocking(false);
break;
}
}