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AP_HAL_PX4: Adds UARTF as commandline option

This commit is contained in:
Miguel Arroyo 2017-08-09 16:46:20 -04:00 committed by Francisco Ferreira
parent eebef857f1
commit fc155eac7e
1 changed files with 18 additions and 2 deletions
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20
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
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@ -152,6 +152,7 @@ static int main_loop(int argc, char **argv)
hal.uartC->begin(57600);
hal.uartD->begin(57600);
hal.uartE->begin(57600);
hal.uartF->begin(57600);
hal.scheduler->init();
/*
@ -220,6 +221,7 @@ static void usage(void)
printf("\t-d2 DEVICE set second terminal device (default %s)\n", UARTC_DEFAULT_DEVICE);
printf("\t-d3 DEVICE set 3rd terminal device (default %s)\n", UARTD_DEFAULT_DEVICE);
printf("\t-d4 DEVICE set 2nd GPS device (default %s)\n", UARTE_DEFAULT_DEVICE);
printf("\t-d5 DEVICE set uartF (default %s)\n", UARTF_DEFAULT_DEVICE);
printf("\n");
}
@ -231,6 +233,7 @@ void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
const char *deviceC = UARTC_DEFAULT_DEVICE;
const char *deviceD = UARTD_DEFAULT_DEVICE;
const char *deviceE = UARTE_DEFAULT_DEVICE;
const char *deviceF = UARTF_DEFAULT_DEVICE;
if (argc < 1) {
printf("%s: missing command (try '%s start')",
@ -254,8 +257,10 @@ void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
uartCDriver.set_device_path(deviceC);
uartDDriver.set_device_path(deviceD);
uartEDriver.set_device_path(deviceE);
printf("Starting %s uartA=%s uartC=%s uartD=%s uartE=%s\n",
SKETCHNAME, deviceA, deviceC, deviceD, deviceE);
uartFDriver.set_device_path(deviceF);
printf("Starting %s uartA=%s uartC=%s uartD=%s uartE=%s uartF=%s\n",
SKETCHNAME, deviceA, deviceC, deviceD, deviceE, deviceF);
_px4_thread_should_exit = false;
daemon_task = px4_task_spawn_cmd(SKETCHNAME,
@ -326,6 +331,17 @@ void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
exit(1);
}
}
if (strcmp(argv[i], "-d5") == 0) {
// set uartF
if (argc > i + 1) {
deviceF = strdup(argv[i+1]);
} else {
printf("missing parameter to -d5 DEVICE\n");
usage();
exit(1);
}
}
}
usage();