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HAL_Linux: support uartG

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This commit is contained in:
Andrew Tridgell 2018-06-27 21:34:24 +10:00
parent e120f8be24
commit 9ae6734469
2 changed files with 9 additions and 1 deletions
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9
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -66,6 +66,7 @@ static UARTDriver uartCDriver(false);
static UARTDriver uartDDriver(false); static UARTDriver uartDDriver(false);
static UARTDriver uartEDriver(false); static UARTDriver uartEDriver(false);
static UARTDriver uartFDriver(false); static UARTDriver uartFDriver(false);
static UARTDriver uartGDriver(false);
static I2CDeviceManager i2c_mgr_instance; static I2CDeviceManager i2c_mgr_instance;
static SPIDeviceManager spi_mgr_instance; static SPIDeviceManager spi_mgr_instance;
@ -217,6 +218,7 @@ HAL_Linux::HAL_Linux() :
&uartDDriver, &uartDDriver,
&uartEDriver, &uartEDriver,
&uartFDriver, &uartFDriver,
&uartGDriver,
&i2c_mgr_instance, &i2c_mgr_instance,
&spi_mgr_instance, &spi_mgr_instance,
&analogIn, &analogIn,
@ -233,7 +235,7 @@ HAL_Linux::HAL_Linux() :
void _usage(void) void _usage(void)
{ {
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath\n"); printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath\n");
printf("Options:\n"); printf("Options:\n");
printf("\tserial:\n"); printf("\tserial:\n");
printf(" -A /dev/ttyO4\n"); printf(" -A /dev/ttyO4\n");
@ -274,6 +276,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{"uartD", true, 0, 'D'}, {"uartD", true, 0, 'D'},
{"uartE", true, 0, 'E'}, {"uartE", true, 0, 'E'},
{"uartF", true, 0, 'F'}, {"uartF", true, 0, 'F'},
{"uartG", true, 0, 'G'},
{"log-directory", true, 0, 'l'}, {"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'}, {"terrain-directory", true, 0, 't'},
{"storage-directory", true, 0, 's'}, {"storage-directory", true, 0, 's'},
@ -308,6 +311,9 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
case 'F': case 'F':
uartFDriver.set_device_path(gopt.optarg); uartFDriver.set_device_path(gopt.optarg);
break; break;
case 'G':
uartGDriver.set_device_path(gopt.optarg);
break;
case 'l': case 'l':
utilInstance.set_custom_log_directory(gopt.optarg); utilInstance.set_custom_log_directory(gopt.optarg);
break; break;
@ -340,6 +346,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
uartA->begin(115200); uartA->begin(115200);
uartE->begin(115200); uartE->begin(115200);
uartF->begin(115200); uartF->begin(115200);
uartG->begin(115200);
analogin->init(); analogin->init();
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]); utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);

1
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -270,6 +270,7 @@ void Scheduler::_run_uarts()
hal.uartD->_timer_tick(); hal.uartD->_timer_tick();
hal.uartE->_timer_tick(); hal.uartE->_timer_tick();
hal.uartF->_timer_tick(); hal.uartF->_timer_tick();
hal.uartG->_timer_tick();
} }
void Scheduler::_rcin_task() void Scheduler::_rcin_task()