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AP_HAL_Linux: support up to 9 UARTs

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Andrew Tridgell 2021-11-05 14:17:40 +11:00 committed by Peter Barker
parent 8c2074907b
commit 018ac68061
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -72,6 +72,7 @@ static UARTDriver uartFDriver(false);
static UARTDriver uartGDriver(false);
static UARTDriver uartHDriver(false);
static UARTDriver uartIDriver(false);
static UARTDriver uartJDriver(false);
static I2CDeviceManager i2c_mgr_instance;
static SPIDeviceManager spi_mgr_instance;
@ -247,6 +248,7 @@ HAL_Linux::HAL_Linux() :
&uartGDriver,
&uartHDriver,
&uartIDriver,
&uartJDriver,
&i2c_mgr_instance,
&spi_mgr_instance,
&qspi_mgr_instance,
@ -271,7 +273,7 @@ HAL_Linux::HAL_Linux() :
void _usage(void)
{
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath -H uartHpath -I uartIpath\n");
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath -H uartHpath -I uartIpath -J uartJpath\n");
printf("Options:\n");
printf("\tserial:\n");
printf(" -A /dev/ttyO4\n");
@ -319,6 +321,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{"uartG", true, 0, 'G'},
{"uartH", true, 0, 'H'},
{"uartI", true, 0, 'I'},
{"uartJ", true, 0, 'J'},
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"storage-directory", true, 0, 's'},
@ -364,6 +367,9 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
case 'I':
uartIDriver.set_device_path(gopt.optarg);
break;
case 'J':
uartJDriver.set_device_path(gopt.optarg);
break;
case 'l':
utilInstance.set_custom_log_directory(gopt.optarg);
break;