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HAL_PX4: added uartF

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This commit is contained in:
Andrew Tridgell 2016-04-19 13:47:56 +10:00
parent c7dabad02c
commit 18ccaf7e2b
2 changed files with 6 additions and 0 deletions
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5
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
View File

@ -51,18 +51,21 @@ static Empty::I2CDeviceManager i2c_mgr_instance;
#define UARTC_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTD_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTE_DEFAULT_DEVICE "/dev/ttyS6"
#define UARTF_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTD_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTE_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTF_DEFAULT_DEVICE "/dev/ttyS6" // frsky telem
#else
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#define UARTF_DEFAULT_DEVICE "/dev/null"
#endif
// 3 UART drivers, for GPS plus two mavlink-enabled devices
@ -71,6 +74,7 @@ static PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE, "APM_uartB");
static PX4UARTDriver uartCDriver(UARTC_DEFAULT_DEVICE, "APM_uartC");
static PX4UARTDriver uartDDriver(UARTD_DEFAULT_DEVICE, "APM_uartD");
static PX4UARTDriver uartEDriver(UARTE_DEFAULT_DEVICE, "APM_uartE");
static PX4UARTDriver uartFDriver(UARTF_DEFAULT_DEVICE, "APM_uartF");
HAL_PX4::HAL_PX4() :
AP_HAL::HAL(
@ -79,6 +83,7 @@ HAL_PX4::HAL_PX4() :
&uartCDriver, /* uartC */
&uartDDriver, /* uartD */
&uartEDriver, /* uartE */
&uartFDriver, /* uartF */
&i2c_mgr_instance,
&i2cDriver, /* i2c */
NULL, /* only one i2c */

1
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -322,6 +322,7 @@ void *PX4Scheduler::_uart_thread(void *arg)
((PX4UARTDriver *)hal.uartC)->_timer_tick();
((PX4UARTDriver *)hal.uartD)->_timer_tick();
((PX4UARTDriver *)hal.uartE)->_timer_tick();
((PX4UARTDriver *)hal.uartF)->_timer_tick();
}
return NULL;
}