mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: eliminate internal legacy UART ordering/references
Leave the legacy command line arguments to avoid breaking users.
This commit is contained in:
Thomas Watson
Andrew Tridgell
parent
6b79349947
commit
f34034584f
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@ -64,16 +64,17 @@ static UtilRPI utilInstance;
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static Util utilInstance;
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#endif
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// 9 serial ports on Linux
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static UARTDriver uartADriver(true);
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static UARTDriver uartCDriver(false);
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static UARTDriver uartDDriver(false);
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static UARTDriver uartEDriver(false);
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static UARTDriver uartFDriver(false);
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static UARTDriver uartGDriver(false);
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static UARTDriver uartHDriver(false);
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static UARTDriver uartIDriver(false);
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static UARTDriver uartJDriver(false);
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// 10 serial ports on Linux
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static UARTDriver serial0Driver(true);
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static UARTDriver serial1Driver(false);
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static UARTDriver serial2Driver(false);
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// serial3Driver declared below depending on board type
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static UARTDriver serial4Driver(false);
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static UARTDriver serial5Driver(false);
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static UARTDriver serial6Driver(false);
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static UARTDriver serial7Driver(false);
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static UARTDriver serial8Driver(false);
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static UARTDriver serial9Driver(false);
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static I2CDeviceManager i2c_mgr_instance;
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static SPIDeviceManager spi_mgr_instance;
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@ -81,9 +82,9 @@ static SPIDeviceManager spi_mgr_instance;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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static SPIUARTDriver uartBDriver;
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static SPIUARTDriver serial3Driver;
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#else
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static UARTDriver uartBDriver(false);
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static UARTDriver serial3Driver(false);
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#endif
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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@ -247,22 +248,22 @@ static CANIface* canDrivers[HAL_NUM_CAN_IFACES];
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HAL_Linux::HAL_Linux() :
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AP_HAL::HAL(
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&uartADriver,
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&uartCDriver, // ordering captures the historical use of uartB as SERIAL3
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&uartDDriver,
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&uartBDriver,
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&uartEDriver,
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&uartFDriver,
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&uartGDriver,
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&uartHDriver,
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&uartIDriver,
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&uartJDriver,
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&serial0Driver,
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&serial1Driver,
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&serial2Driver,
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&serial3Driver,
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&serial4Driver,
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&serial5Driver,
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&serial6Driver,
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&serial7Driver,
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&serial8Driver,
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&serial9Driver,
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&i2c_mgr_instance,
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&spi_mgr_instance,
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&wspi_mgr_instance,
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&analogIn,
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&storageDriver,
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&uartADriver,
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&serial0Driver,
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&gpioDriver,
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&rcinDriver,
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&rcoutDriver,
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@ -281,16 +282,16 @@ HAL_Linux::HAL_Linux() :
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void _usage(void)
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{
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printf("Usage: --serial0 serial0Path --serial1 serial2Path \n");
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printf("Usage: --serial0 serial0Path --serial1 serial1Path \n");
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printf("Examples:\n");
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printf("\tserial (0 through 9 available):\n");
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printf("\t --serial0 /dev/ttyO4\n");
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printf("\t --serial3 /dev/ttyS1\n");
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printf("\tlegacy UART options still work, their mappings are:\n");
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printf("\t -A/--uartA is SERIAL0\n");
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printf("\t -B/--uartB is SERIAL3\n");
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printf("\t -C/--uartC is SERIAL1\n");
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printf("\t -D/--uartD is SERIAL2\n");
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printf("\t -B/--uartB is SERIAL3\n");
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printf("\t -E/--uartE is SERIAL4\n");
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printf("\t -F/--uartF is SERIAL5\n");
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printf("\t -G/--uartG is SERIAL6\n");
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@ -334,12 +335,12 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
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const struct GetOptLong::option options[] = {
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{"uartA", true, 0, 'A'},
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{"serial0", true, 0, 'A'},
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{"uartB", true, 0, 'B'},
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{"serial3", true, 0, 'B'},
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{"uartC", true, 0, 'C'},
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{"uartC", true, 0, 'C'}, // ordering captures the historical use of uartB as SERIAL3
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{"serial1", true, 0, 'C'},
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{"uartD", true, 0, 'D'},
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{"serial2", true, 0, 'D'},
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{"uartB", true, 0, 'B'},
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{"serial3", true, 0, 'B'},
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{"uartE", true, 0, 'E'},
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{"serial4", true, 0, 'E'},
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{"uartF", true, 0, 'F'},
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@ -371,34 +372,34 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
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while ((opt = gopt.getoption()) != -1) {
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switch (opt) {
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case 'A':
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uartADriver.set_device_path(gopt.optarg);
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break;
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case 'B':
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uartBDriver.set_device_path(gopt.optarg);
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serial0Driver.set_device_path(gopt.optarg);
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break;
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case 'C':
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uartCDriver.set_device_path(gopt.optarg);
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serial1Driver.set_device_path(gopt.optarg);
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break;
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case 'D':
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uartDDriver.set_device_path(gopt.optarg);
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serial2Driver.set_device_path(gopt.optarg);
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break;
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case 'B':
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serial3Driver.set_device_path(gopt.optarg);
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break;
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case 'E':
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uartEDriver.set_device_path(gopt.optarg);
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serial4Driver.set_device_path(gopt.optarg);
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break;
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case 'F':
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uartFDriver.set_device_path(gopt.optarg);
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serial5Driver.set_device_path(gopt.optarg);
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break;
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case 'G':
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uartGDriver.set_device_path(gopt.optarg);
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serial6Driver.set_device_path(gopt.optarg);
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break;
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case 'H':
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uartHDriver.set_device_path(gopt.optarg);
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serial7Driver.set_device_path(gopt.optarg);
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break;
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case 'I':
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uartIDriver.set_device_path(gopt.optarg);
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serial8Driver.set_device_path(gopt.optarg);
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break;
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case 'J':
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uartJDriver.set_device_path(gopt.optarg);
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serial9Driver.set_device_path(gopt.optarg);
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break;
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case 'l':
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utilInstance.set_custom_log_directory(gopt.optarg);
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