// get_mavlink_channel - provides the mavlink channel associated with a given protocol
// instance should be zero if searching for the first instance, 1 for the second, etc
// returns true if a channel is found, false if not
bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const
{
// check for console
if (protocol == SerialProtocol_Console) {
mav_chan = MAVLINK_COMM_0;
return true;
}
// check for MAVLink
if (protocol_match(protocol, SerialProtocol_MAVLink)) {
if (instance == 0) {
mav_chan = MAVLINK_COMM_1;
return true;
}
if (instance == 1) {
mav_chan = MAVLINK_COMM_2;
return true;
}
if (instance == 2) {
mav_chan = MAVLINK_COMM_3;
return true;
}
}
// report failure
return false;
}
// get_mavlink_channel - provides the mavlink channel associated with a given protocol
// instance should be zero if searching for the first instance, 1 for the second, etc
// returns true if a channel is found, false if not
bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const
{
// check for MAVLink
if (protocol_match(protocol, SerialProtocol_MAVLink)) {
if (instance < MAVLINK_COMM_NUM_BUFFERS) {
mav_chan = (mavlink_channel_t)(MAVLINK_COMM_0 + instance);
return true;
}
}
// report failure
return false;
}
// set_console_baud - sets the console's baud rate to the rate specified by the protocol
void AP_SerialManager::set_console_baud(enum SerialProtocol protocol, uint8_t instance) const
{
uint8_t found_instance = 0;
// find baud rate of this protocol
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
if (instance == found_instance) {
// set console's baud rate
state[0].uart->begin(map_baudrate(state[i].baud));
return;
}
found_instance++;
}
}
}
// find_baudrate - searches available serial ports for the first instance that allows the given protocol
// instance should be zero if searching for the first instance, 1 for the second, etc
// returns baudrate on success, 0 if a serial port cannot be found
uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t instance) const
{
uint8_t found_instance = 0;
// search for matching protocol
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
if (found_instance == instance) {
return map_baudrate(state[i].baud);
}
found_instance++;
}
}
// if we got this far we did not find the uart
return 0;
}
// find_serial - searches available serial ports for the first instance that allows the given protocol
// instance should be zero if searching for the first instance, 1 for the second, etc
// returns uart on success, NULL if a serial port cannot be found
AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol, uint8_t instance) const
{
uint8_t found_instance = 0;
// search for matching protocol
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
if (found_instance == instance) {
return state[i].uart;
}
found_instance++;
}
}
// if we got this far we did not find the uart
return NULL;
}
