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AP_SerialManager: simplify interface, returning direct uart

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added find_baudrate() for getting baudrate

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2015-01-29 15:35:42 +11:00
parent 18af7c1437
commit e28deacc4c
2 changed files with 44 additions and 32 deletions
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63
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -106,9 +106,9 @@ void AP_SerialManager::init_console()
// initialise console immediately at default size and baud
state[0].protocol = SerialProtocol_Console; // protocol is unused for console
state[0].uart = hal.uartA; // serial0, uartA, always console
state[0].rx_size = AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX;
state[0].tx_size = AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX;
state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD, state[0].rx_size, state[0].tx_size);
state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
}
// init - // init - initialise serial ports
@ -125,42 +125,40 @@ void AP_SerialManager::init()
if (state[i].uart != NULL) {
switch (state[i].protocol) {
case SerialProtocol_Console:
state[i].rx_size = AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX;
state[i].tx_size = AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX;
state[i].uart->begin(map_baudrate(state[i].baud), state[i].rx_size, state[i].tx_size);
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
break;
case SerialProtocol_MAVLink1:
case SerialProtocol_MAVLink2:
state[i].rx_size = AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX;
state[i].tx_size = AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX;
state[i].uart->begin(map_baudrate(state[i].baud), state[i].rx_size, state[i].tx_size);
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX,
AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX);
break;
case SerialProtocol_FRSky_DPort:
// Note baudrate is hardcoded to 57600
state[i].rx_size = AP_SERIALMANAGER_FRSKY_BUFSIZE_RX;
state[i].tx_size = AP_SERIALMANAGER_FRSKY_BUFSIZE_TX;
state[i].baud = AP_SERIALMANAGER_FRSKY_DPORT_BAUD/1000; // update baud param in case user looks at it
state[i].uart->begin(AP_SERIALMANAGER_FRSKY_DPORT_BAUD, state[i].rx_size, state[i].tx_size);
state[i].uart->begin(AP_SERIALMANAGER_FRSKY_DPORT_BAUD,
AP_SERIALMANAGER_FRSKY_BUFSIZE_RX,
AP_SERIALMANAGER_FRSKY_BUFSIZE_TX);
break;
case SerialProtocol_FRSky_SPort:
// Note baudrate is hardcoded to 9600
state[i].rx_size = AP_SERIALMANAGER_FRSKY_BUFSIZE_RX;
state[i].tx_size = AP_SERIALMANAGER_FRSKY_BUFSIZE_TX;
state[i].baud = AP_SERIALMANAGER_FRSKY_SPORT_BAUD/1000; // update baud param in case user looks at it
// begin is handled by AP_Frsky_telem library
break;
case SerialProtocol_GPS:
case SerialProtocol_GPS2:
state[i].rx_size = AP_SERIALMANAGER_GPS_BUFSIZE_RX;
state[i].tx_size = AP_SERIALMANAGER_GPS_BUFSIZE_TX;
state[i].uart->begin(map_baudrate(state[i].baud), state[i].rx_size, state[i].tx_size);
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_GPS_BUFSIZE_RX,
AP_SERIALMANAGER_GPS_BUFSIZE_TX);
break;
case SerialProtocol_AlexMos:
// Note baudrate is hardcoded to 115200
state[i].rx_size = AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX;
state[i].tx_size = AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX;
state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000; // update baud param in case user looks at it
state[i].uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD, state[i].rx_size, state[i].tx_size);
state[i].uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD,
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX,
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX);
break;
}
}
@ -168,20 +166,33 @@ void AP_SerialManager::init()
}
// find_serial - searches available serial ports for the first instance that allows the given protocol
// returns true on success, false if a serial port cannot be found
// result is updated with reference to the serial port
bool AP_SerialManager::find_serial(enum SerialProtocol protocol, serial_state& ret_state) const
// returns uart on success, NULL if a serial port cannot be found
AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol) const
{
// search for matching protocol
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].protocol == protocol) {
ret_state = state[i];
return true;
return state[i].uart;
}
}
// if we got this far we did not find the uart
return false;
return NULL;
}
// find_baudrate - searches available serial ports for the first instance that allows the given protocol
// returns baudrate on success, 0 if a serial port cannot be found
uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol) const
{
// search for matching protocol
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].protocol == protocol) {
return map_baudrate(state[i].baud);
}
}
// if we got this far we did not find the uart
return 0;
}
// get_mavlink_channel - provides the mavlink channel associated with a given protocol

13
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -81,9 +81,7 @@ public:
// array of uart info
typedef struct {
AP_Int8 protocol;
AP_Int16 baud;
uint16_t rx_size;
uint16_t tx_size;
AP_Int32 baud;
AP_HAL::UARTDriver* uart;
} serial_state;
@ -97,9 +95,12 @@ public:
void init();
// find_serial - searches available serial ports for the first instance that allows the given protocol
// returns true on success, false if a serial port cannot be found
// result is updated with reference to the serial port
bool find_serial(enum SerialProtocol protocol, serial_state& ret_state) const;
// returns uart on success, NULL if a serial port cannot be found
AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol) const;
// find_baudrate - searches available serial ports for the first instance that allows the given protocol
// returns the baudrate of that protocol on success, 0 if a serial port cannot be found
uint32_t find_baudrate(enum SerialProtocol protocol) const;
// get_mavlink_channel - provides the mavlink channel associated with a given protocol
// returns true if a channel is found, false if not