ardupilot/libraries/AP_HAL/HAL.cpp

29 lines
730 B
C++

#include <assert.h>
#include "HAL.h"
namespace AP_HAL {
HAL::FunCallbacks::FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void))
: _setup(setup_fun)
, _loop(loop_fun)
{
assert(setup_fun);
assert(loop_fun);
}
}
// access serial ports using SERIALn numbering
AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
{
UARTDriver **uart_array = const_cast<UARTDriver**>(&uartA);
// this mapping captures the historical use of uartB as SERIAL3
const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8 };
static_assert(sizeof(mapping) == num_serial, "num_serial must match mapping");
if (sernum >= num_serial) {
return nullptr;
}
return uart_array[mapping[sernum]];
}