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Tools: convert to using hal.serial() instead of hal.uartX

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This commit is contained in:
Andrew Tridgell 2020-12-11 11:18:38 +11:00
parent 6df118e7b4
commit 23a9a14d64
1 changed files with 9 additions and 9 deletions
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18
Tools/AP_Periph/AP_Periph.cpp
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@ -73,8 +73,8 @@ void AP_Periph_FW::init()
stm32_watchdog_pat();
hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 32);
hal.uartB->begin(115200, 128, 256);
hal.serial(0)->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 32);
hal.serial(3)->begin(115200, 128, 256);
load_parameters();
@ -143,7 +143,7 @@ void AP_Periph_FW::init()
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
if (rangefinder.get_type(0) != RangeFinder::Type::NONE) {
const uint8_t sernum = 3; // uartB
hal.uartB->begin(g.rangefinder_baud);
hal.serial(3)->begin(g.rangefinder_baud);
serial_manager.set_protocol_and_baud(sernum, AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud);
rangefinder.init(ROTATION_NONE);
}
@ -154,11 +154,11 @@ void AP_Periph_FW::init()
#endif
#ifdef HAL_PERIPH_ENABLE_HWESC
hwesc_telem.init(hal.uartB);
hwesc_telem.init(hal.serial(3));
#endif
#ifdef HAL_PERIPH_ENABLE_MSP
msp_init(hal.uartD);
msp_init(hal.serial(2));
#endif
start_ms = AP_HAL::native_millis();
@ -251,17 +251,17 @@ void AP_Periph_FW::update()
#endif
#if 0
#ifdef HAL_PERIPH_ENABLE_GPS
hal.uartA->printf("GPS status: %u\n", (unsigned)gps.status());
hal.serial(0)->printf("GPS status: %u\n", (unsigned)gps.status());
#endif
#ifdef HAL_PERIPH_ENABLE_MAG
const Vector3f &field = compass.get_field();
hal.uartA->printf("MAG (%d,%d,%d)\n", int(field.x), int(field.y), int(field.z));
hal.serial(0)->printf("MAG (%d,%d,%d)\n", int(field.x), int(field.y), int(field.z));
#endif
#ifdef HAL_PERIPH_ENABLE_BARO
hal.uartA->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
hal.serial(0)->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
hal.uartA->printf("RNG %u %ucm\n", rangefinder.num_sensors(), rangefinder.distance_cm_orient(ROTATION_NONE));
hal.serial(0)->printf("RNG %u %ucm\n", rangefinder.num_sensors(), rangefinder.distance_cm_orient(ROTATION_NONE));
#endif
hal.scheduler->delay(1);
#endif