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USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane 

when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from
EEPROM
This commit is contained in:
Andrew Tridgell 2011-11-20 20:31:45 +11:00 committed by Pat Hickey
parent 8e5f64f8b6
commit 0604f2c667
6 changed files with 94 additions and 22 deletions
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9
ArduPlane/ArduPlane.pde
View File

@ -235,6 +235,10 @@ byte control_mode = INITIALISING;
byte oldSwitchPosition; // for remembering the control mode switch
bool inverted_flight = false;
#if USB_MUX_PIN > 0
static bool usb_connected;
#endif
static const char *comma = ",";
static const char* flight_mode_strings[] = {
@ -738,6 +742,11 @@ static void slow_loop()
mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter
gcs_data_stream_send(3,5);
#if USB_MUX_PIN > 0
check_usb_mux();
#endif
break;
}
}

8
ArduPlane/GCS.h
View File

@ -40,7 +40,10 @@ public:
///
/// @param port The stream over which messages are exchanged.
///
void init(FastSerial *port) { _port = port; }
void init(FastSerial *port) {
_port = port;
initialised = true;
}
/// Update GCS state.
///
@ -83,6 +86,9 @@ public:
// send streams which match frequency range
void data_stream_send(uint16_t freqMin, uint16_t freqMax);
// set to true if this GCS link is active
bool initialised;
protected:
/// The stream we are communicating over
FastSerial *_port;

17
ArduPlane/GCS_Mavlink.pde
View File

@ -592,7 +592,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_param_send();
} else {
} else if (gcs3.initialised) {
gcs3.queued_param_send();
}
break;
@ -601,7 +601,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else {
} else if (gcs3.initialised) {
gcs3.queued_waypoint_send();
}
break;
@ -2022,6 +2022,9 @@ static void mavlink_delay(unsigned long t)
gcs_update();
}
delay(1);
#if USB_MUX_PIN > 0
check_usb_mux();
#endif
} while (millis() - tstart < t);
in_mavlink_delay = false;
@ -2033,8 +2036,10 @@ static void mavlink_delay(unsigned long t)
static void gcs_send_message(enum ap_message id)
{
gcs0.send_message(id);
if (gcs3.initialised) {
gcs3.send_message(id);
}
}
/*
send data streams in the given rate range on both links
@ -2042,8 +2047,10 @@ static void gcs_send_message(enum ap_message id)
static void gcs_data_stream_send(uint16_t freqMin, uint16_t freqMax)
{
gcs0.data_stream_send(freqMin, freqMax);
if (gcs3.initialised) {
gcs3.data_stream_send(freqMin, freqMax);
}
}
/*
look for incoming commands on the GCS links
@ -2051,20 +2058,26 @@ static void gcs_data_stream_send(uint16_t freqMin, uint16_t freqMax)
static void gcs_update(void)
{
gcs0.update();
if (gcs3.initialised) {
gcs3.update();
}
}
static void gcs_send_text(gcs_severity severity, const char *str)
{
gcs0.send_text(severity, str);
if (gcs3.initialised) {
gcs3.send_text(severity, str);
}
}
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
{
gcs0.send_text(severity, str);
if (gcs3.initialised) {
gcs3.send_text(severity, str);
}
}
/*
send a low priority formatted message to the GCS

2
ArduPlane/config.h
View File

@ -72,6 +72,7 @@
# define LED_OFF LOW
# define SLIDE_SWITCH_PIN 40
# define PUSHBUTTON_PIN 41
# define USB_MUX_PIN -1
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
# define A_LED_PIN 27
# define B_LED_PIN 26
@ -81,6 +82,7 @@
# define SLIDE_SWITCH_PIN (-1)
# define PUSHBUTTON_PIN (-1)
# define CLI_SLIDER_ENABLED DISABLED
# define USB_MUX_PIN 23
#endif
//////////////////////////////////////////////////////////////////////////////

4
ArduPlane/planner.pde
View File

@ -26,7 +26,11 @@ static int8_t
planner_gcs(uint8_t argc, const Menu::arg *argv)
{
gcs0.init(&Serial);
#if USB_MUX_PIN > 0
// we don't have gcs3 if we have the USB mux setup
gcs3.init(&Serial3);
#endif
int loopcount = 0;
while (1) {

62
ArduPlane/system.pde
View File

@ -55,6 +55,24 @@ static void run_cli(void)
static void init_ardupilot()
{
#if USB_MUX_PIN > 0
// on the purple board we have a mux thet switches UART0 between
// USB and the board header. If the right ArduPPM firmware is
// installed we can detect if USB is connected using the
// USB_MUX_PIN
pinMode(USB_MUX_PIN, INPUT);
usb_connected = !digitalRead(USB_MUX_PIN);
if (!usb_connected) {
// USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for
// now is to delay for 1 second. Something more elegant may be
// added later
delay(1000);
}
#endif
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
@ -136,15 +154,20 @@ static void init_ardupilot()
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
// Telemetry port.
//
// Not used if telemetry is going to the console.
//
// XXX for unidirectional protocols, we could (should) minimize
// the receive buffer, and the transmit buffer could also be
// shrunk for protocols that don't send large messages.
//
// init the GCS
gcs0.init(&Serial);
#if USB_MUX_PIN > 0
if (!usb_connected) {
// we are not connected via USB, re-init UART0 with right
// baud rate
Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
}
#else
// we have a 2nd serial port for telemetry
Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
gcs3.init(&Serial3);
#endif
mavlink_system.sysid = g.sysid_this_mav;
@ -180,10 +203,6 @@ static void init_ardupilot()
g_gps->init(); // GPS Initialization
g_gps->callback = mavlink_delay;
// init the GCS
gcs0.init(&Serial);
gcs3.init(&Serial3);
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_FIXED_WING;
@ -518,3 +537,22 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
Serial.println_P(PSTR("Invalid SERIAL3_BAUD"));
return default_baud;
}
#if USB_MUX_PIN > 0
static void check_usb_mux(void)
{
bool usb_check = !digitalRead(USB_MUX_PIN);
if (usb_check == usb_connected) {
return;
}
// the user has switched to/from the telemetry port
usb_connected = usb_check;
if (usb_connected) {
Serial.begin(SERIAL0_BAUD, 128, 128);
} else {
Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
}
}
#endif