AP_HAL: Don't need a separate Console class, BetterStream will do.

libraries/AP_HAL/AP_HAL.h

@@ -11,7 +11,6 @@
 #include "AnalogIn.h"
 #include "Storage.h"
 #include "Log.h"
-#include "Console.h"
 #include "GPIO.h"
 #include "RCInput.h"
 #include "RCOutput.h"

libraries/AP_HAL/AP_HAL_Namespace.h

@@ -14,7 +14,6 @@ namespace AP_HAL {
     class AnalogIn;
     class Storage;
     class Log;
-    class Console;
     class GPIO;
     class RCInput;
     class RCOutput;

libraries/AP_HAL/Console.h

@@ -1,14 +0,0 @@
-
-#ifndef __AP_HAL_CONSOLE_H__
-#define __AP_HAL_CONSOLE_H__
-
-#include "AP_HAL_Namespace.h"
-
-class AP_HAL::Console {
-public:
-    Console() {}
-    virtual void init(int machtnicht) = 0;
-};
-
-#endif // __AP_HAL_CONSOLE_H__
-

libraries/AP_HAL/HAL.h

@@ -9,7 +9,6 @@
 #include "../AP_HAL/AnalogIn.h"
 #include "../AP_HAL/Storage.h"
 #include "../AP_HAL/Log.h"
-#include "../AP_HAL/Console.h"
 #include "../AP_HAL/GPIO.h"
 #include "../AP_HAL/RCInput.h"
 #include "../AP_HAL/RCOutput.h"
@@ -25,7 +24,7 @@ public:
         AP_HAL::AnalogIn*   _analogIn,
         AP_HAL::Storage*    _storage,
         AP_HAL::Log*        _log,
-        AP_HAL::Console*    _console,
+        AP_HAL::BetterStream* _console,
         AP_HAL::GPIO*       _gpio,
         AP_HAL::RCInput*    _rcin,
         AP_HAL::RCOutput*   _rcout,
@@ -58,7 +57,7 @@ public:
     AP_HAL::AnalogIn*   analogIn;
     AP_HAL::Storage*    storage;
     AP_HAL::Log*        log;
-    AP_HAL::Console*    console;
+    AP_HAL::BetterStream* console;
     AP_HAL::GPIO*       gpio;
     AP_HAL::RCInput*    rcin;
     AP_HAL::RCOutput*   rcout;

libraries/AP_HAL_AVR/AP_HAL_AVR.cpp

@@ -10,7 +10,6 @@
 #include "AnalogIn.h"
 #include "Storage.h"
 #include "Log.h"
-#include "Console.h"
 #include "GPIO.h"
 #include "RCInput.h"
 #include "RCOutput.h"
@@ -34,7 +33,6 @@ static ArduinoAnalogIn  arduinoAnalogIn;
 static AVREEPROMStorage avrEEPROMStorage;
 static DataFlashAPM1Log apm1DataFlashLog;
 static DataFlashAPM2Log apm2DataFlashLog;
-static AVRUARTConsole   avrUartConsole(&avrUart0Driver);
 static ArduinoGPIO      arduinoGPIO;
 static APM1RCInput      apm1RCInput;
 static APM2RCInput      apm2RCInput;
@@ -52,7 +50,7 @@ const HAL_AVR AP_HAL_AVR_APM1(
         &arduinoAnalogIn,
         &avrEEPROMStorage,
         &apm1DataFlashLog,
-        &avrUartConsole,
+        (BetterStream*) &avrUart0Driver,
         &arduinoGPIO,
         &apm1RCInput,
         &apm1RCOutput,
@@ -68,7 +66,7 @@ const HAL_AVR AP_HAL_AVR_APM2(
         &arduinoAnalogIn,
         &avrEEPROMStorage,
         &apm2DataFlashLog,
-        &avrUartConsole,
+        (BetterStream *) &avrUart0Driver,
         &arduinoGPIO,
         &apm2RCInput,
         &apm2RCOutput,

libraries/AP_HAL_AVR/AP_HAL_AVR_Namespace.h

@@ -12,7 +12,6 @@ namespace AP_HAL_AVR {
     class AVREEPROMStorage;
     class DataFlashAPM1Log;
     class DataFlashAPM2Log;
-    class AVRUARTConsole;
     class ArduinoGPIO;
     class APM1RCInput;
     class APM2RCInput;

libraries/AP_HAL_AVR/Console.h

@@ -1,20 +0,0 @@
-
-#ifndef __AP_HAL_AVR_CONSOLE_H__
-#define __AP_HAL_AVR_CONSOLE_H__
-
-#include <AP_HAL.h>
-#include "AP_HAL_AVR_Namespace.h"
-#include "UARTDriver.h"
-
-class AP_HAL_AVR::AVRUARTConsole : public AP_HAL::Console {
-public:
-    AVRUARTConsole( AVRUARTDriver* driver ) : _driver(driver), _init(0) {}
-    void init(int machtnicht) { _init = 1; }
-private:
-    const AVRUARTDriver* _driver;
-    int _init;
-};
-
-
-#endif // __AP_HAL_AVR_CONSOLE_H__
-

libraries/AP_HAL_AVR/HAL_AVR.cpp

@@ -5,7 +5,11 @@ using namespace AP_HAL_AVR;
 void HAL_AVR::init(void* opts) const {
 
     scheduler->init();
-
+   
+    /* uart0 is the serial port used for the console, so lets make sure
+     * it is initialized at boot */
+    // XXX maybe this should be 57600?
+    uart0->begin(115200);
     /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
      * as the init argument */
     rcin->init((void*)&isr_registry);

libraries/AP_HAL_AVR/HAL_AVR.h

@@ -23,7 +23,7 @@ public:
         AP_HAL::AnalogIn*   _analogIn,
         AP_HAL::Storage*    _storage,
         AP_HAL::Log*        _log,
-        AP_HAL::Console*    _console,
+        AP_HAL::BetterStream* _console,
         AP_HAL::GPIO*       _gpio,
         AP_HAL::RCInput*    _rcin,
         AP_HAL::RCOutput*   _rcout,