AP_HAL: move serial re-mapping to UART array initialization

Saves a bit of flash and execution time.
ArduPilot · Nov 21, 2023 · c0fdc6b · c0fdc6b
1 parent ca3c615
commit c0fdc6b
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Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/libraries/AP_HAL/HAL.cpp b/libraries/AP_HAL/HAL.cpp
@@ -15,11 +15,8 @@ HAL::FunCallbacks::FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void))
 // access serial ports using SERIALn numbering
 AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
 {
-    // this mapping captures the historical use of uartB as SERIAL3
-    const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
-    static_assert(sizeof(mapping) == ARRAY_SIZE(uart_array), "array size must match mapping");
     if (sernum >= ARRAY_SIZE(uart_array)) {
         return nullptr;
     }
-    return uart_array[mapping[sernum]];
+    return uart_array[sernum];
 }
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
@@ -55,9 +55,9 @@ class AP_HAL::HAL {
         :
         uart_array{
             _uartA,
-            _uartB,
-            _uartC,
+            _uartC, // ordering captures the historical use of uartB as SERIAL3
             _uartD,
+            _uartB,
             _uartE,
             _uartF,
             _uartG,
-Original file line number
+Diff line change
@@ Expand Up / @@ -55,9 +55,9 @@ class AP_HAL::HAL { @@
             :
             uart_array{
                 _uartA,
-                _uartB,
-                _uartC,
+                _uartC, // ordering captures the historical use of uartB as SERIAL3
                 _uartD,
+                _uartB,
                 _uartE,
                 _uartF,
                 _uartG,
@@ Expand Down @@