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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/AP_Periph/serial_options.cpp
Views: 1798
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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/*

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  serial options support, for serial over DroneCAN

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 */

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#include "AP_Periph.h"

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#ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS

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#include "serial_options.h"

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#include <AP_SerialManager/AP_SerialManager_config.h>

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extern const AP_HAL::HAL &hal;

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const AP_Param::GroupInfo SerialOptions::var_info[] {

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#if HAL_HAVE_SERIAL0

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    // @Group: 0_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[0], "0_",  1, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL1

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    // @Group: 1_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[1], "1_",  2, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL2

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    // @Group: 2_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[2], "2_",  3, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL3

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    // @Group: 3_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[3], "3_",  4, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL4

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    // @Group: 4_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[4], "4_",  5, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL5

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    // @Group: 5_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[5], "5_",  6, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL6

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    // @Group: 6_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[6], "6_",  7, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL7

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    // @Group: 7_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[7], "7_",  8, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL8

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    // @Group: 8_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[8], "8_",  9, SerialOptions, SerialOptionsDev),

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#endif

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#if HAL_HAVE_SERIAL9

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    // @Group: 9_

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    // @Path: serial_options_dev.cpp

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    AP_SUBGROUPINFO(devs[9], "9_",  10, SerialOptions, SerialOptionsDev),

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#endif

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    AP_GROUPEND

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};

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SerialOptions::SerialOptions(void)

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{

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    AP_Param::setup_object_defaults(this, var_info);

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}

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void SerialOptions::init(void)

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{

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    for (uint8_t i=0; i<ARRAY_SIZE(devs); i++) {

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        auto *uart = hal.serial(i);

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        if (uart != nullptr) {

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            auto &d = devs[i];

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            uart->set_options(d.options);

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            uart->set_flow_control(AP_HAL::UARTDriver::flow_control(d.rtscts.get()));

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        }

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    }

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}

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#endif  // HAL_PERIPH_ENABLE_SERIAL_OPTIONS

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