GPS: use SerialManager for init

libraries/AP_GPS/AP_GPS.cpp

@@ -83,14 +83,19 @@ const AP_Param::GroupInfo AP_GPS::var_info[] PROGMEM = {
 };
 
 /// Startup initialisation.
-void AP_GPS::init(DataFlash_Class *dataflash)
+void AP_GPS::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager)
 {
     _DataFlash = dataflash;
-    hal.uartB->begin(38400UL, 256, 16);
     primary_instance = 0;
+
+    // search for serial ports with gps protocol
+    AP_SerialManager::serial_state gps_serial;
+    if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_GPS, gps_serial)) {
+        _port[0] = gps_serial.uart;
+    }
 #if GPS_MAX_INSTANCES > 1
-    if (hal.uartE != NULL) {
-        hal.uartE->begin(38400UL, 256, 16);        
+    if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_GPS2, gps_serial)) {
+        _port[1] = gps_serial.uart;
     }
 #endif
 }
@@ -118,15 +123,19 @@ void AP_GPS::send_blob_start(uint8_t instance, const prog_char *_blob, uint16_t
  */
 void AP_GPS::send_blob_update(uint8_t instance)
 {
+    // exit immediately if no uart for this instance
+    if (_port[instance] == NULL) {
+        return;
+    }
+
     // see if we can write some more of the initialisation blob
     if (initblob_state[instance].remaining > 0) {
-        AP_HAL::UARTDriver *port = instance==0?hal.uartB:hal.uartE;
-        int16_t space = port->txspace();
+        int16_t space = _port[instance]->txspace();
         if (space > (int16_t)initblob_state[instance].remaining) {
             space = initblob_state[instance].remaining;
         }
         while (space > 0) {
-            port->write(pgm_read_byte(initblob_state[instance].blob));
+            _port[instance]->write(pgm_read_byte(initblob_state[instance].blob));
             initblob_state[instance].blob++;
             space--;
             initblob_state[instance].remaining--;
@@ -143,7 +152,6 @@ void
 AP_GPS::detect_instance(uint8_t instance)
 {
     AP_GPS_Backend *new_gps = NULL;
-    AP_HAL::UARTDriver *port = instance==0?hal.uartB:hal.uartE;
     struct detect_state *dstate = &detect_state[instance];
     uint32_t now = hal.scheduler->millis();
 
@@ -152,12 +160,12 @@ AP_GPS::detect_instance(uint8_t instance)
         // check for explicitely chosen PX4 GPS beforehand
         // it is not possible to autodetect it, nor does it require a real UART
         hal.console->print_P(PSTR(" PX4 "));
-        new_gps = new AP_GPS_PX4(*this, state[instance], port);
+        new_gps = new AP_GPS_PX4(*this, state[instance], _port[instance]);
         goto found_gps;
     }
 #endif
 
-    if (port == NULL) {
+    if (_port[instance] == NULL) {
         // UART not available
         return;
     }
@@ -178,15 +186,15 @@ AP_GPS::detect_instance(uint8_t instance)
 			dstate->last_baud = 0;
 		}
 		uint32_t baudrate = pgm_read_dword(&_baudrates[dstate->last_baud]);
-		port->begin(baudrate, 256, 16);		
+		_port[instance]->begin(baudrate, 256, 16);
 		dstate->last_baud_change_ms = now;
         send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
     }
 
     send_blob_update(instance);
 
-    while (port->available() > 0 && new_gps == NULL) {
-        uint8_t data = port->read();
+    while (_port[instance]->available() > 0 && new_gps == NULL) {
+        uint8_t data = _port[instance]->read();
         /*
           running a uBlox at less than 38400 will lead to packet
           corruption, as we can't receive the packets in the 200ms
@@ -198,23 +206,23 @@ AP_GPS::detect_instance(uint8_t instance)
             pgm_read_dword(&_baudrates[dstate->last_baud]) >= 38400 && 
             AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
             hal.console->print_P(PSTR(" ublox "));
-            new_gps = new AP_GPS_UBLOX(*this, state[instance], port);
+            new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]);
         } 
 		else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK19) &&
                  AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) {
 			hal.console->print_P(PSTR(" MTK19 "));
-			new_gps = new AP_GPS_MTK19(*this, state[instance], port);
+			new_gps = new AP_GPS_MTK19(*this, state[instance], _port[instance]);
 		} 
 		else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK) &&
                  AP_GPS_MTK::_detect(dstate->mtk_detect_state, data)) {
 			hal.console->print_P(PSTR(" MTK "));
-			new_gps = new AP_GPS_MTK(*this, state[instance], port);
+			new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]);
 		}
 #if GPS_RTK_AVAILABLE
         else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
                  AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
             hal.console->print_P(PSTR(" SBP "));
-            new_gps = new AP_GPS_SBP(*this, state[instance], port);
+            new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]);
         }
 #endif // HAL_CPU_CLASS
 #if !defined(GPS_SKIP_SIRF_NMEA)
@@ -222,7 +230,7 @@ AP_GPS::detect_instance(uint8_t instance)
 		else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
                  AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) {
 			hal.console->print_P(PSTR(" SIRF "));
-			new_gps = new AP_GPS_SIRF(*this, state[instance], port);
+			new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
 		}
 		else if (now - dstate->detect_started_ms > 5000) {
 			// prevent false detection of NMEA mode in
@@ -230,7 +238,7 @@ AP_GPS::detect_instance(uint8_t instance)
 			if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA) &&
                 AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
 				hal.console->print_P(PSTR(" NMEA "));
-				new_gps = new AP_GPS_NMEA(*this, state[instance], port);
+				new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]);
 			}
 		}
 #endif

libraries/AP_GPS/AP_GPS.h

@@ -26,6 +26,7 @@
 #include <GCS_MAVLink.h>
 #include <AP_Vehicle.h>
 #include "GPS_detect_state.h"
+#include <AP_SerialManager.h>
 
 /**
    maximum number of GPS instances available on this platform. If more
@@ -66,7 +67,7 @@ public:
     }
 
     /// Startup initialisation.
-    void init(DataFlash_Class *dataflash);
+    void init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager);
 
     /// Update GPS state based on possible bytes received from the module.
     /// This routine must be called periodically (typically at 10Hz or
@@ -370,6 +371,7 @@ private:
     GPS_timing timing[GPS_MAX_INSTANCES];
     GPS_State state[GPS_MAX_INSTANCES];
     AP_GPS_Backend *drivers[GPS_MAX_INSTANCES];
+    AP_HAL::UARTDriver *_port[GPS_MAX_INSTANCES];
 
     /// primary GPS instance
     uint8_t primary_instance:2;