AP_HAL_FLYMAPLE: Console is now a thin wrapper around uartA, consistent with AVR

libraries/AP_HAL_FLYMAPLE/Console.cpp

@@ -14,6 +14,8 @@
  */
 /*
   Flymaple port by Mike McCauley
+  This is just a thin wrapper around teh UART driver.
+  On Flymaple, the AP Console outputs to a Flymaple UART Serial port, not the SerialUSB port.
  */
 
 #include <AP_HAL.h>
@@ -35,8 +37,9 @@ using namespace AP_HAL_FLYMAPLE_NS;
 FLYMAPLEConsoleDriver::FLYMAPLEConsoleDriver(void* notused)
 {}
 
-void FLYMAPLEConsoleDriver::init(void* machtnichts)
+void FLYMAPLEConsoleDriver::init(void* base_uart)
 {
+    _base_uart = (AP_HAL::UARTDriver*) base_uart;
 }
 
 void FLYMAPLEConsoleDriver::backend_open()
@@ -54,21 +57,19 @@ size_t FLYMAPLEConsoleDriver::backend_write(const uint8_t *data, size_t len) {
 }
 
 int16_t FLYMAPLEConsoleDriver::available() {
-    return SerialUSB.available();
+    return _base_uart->available();
 }
 
 int16_t FLYMAPLEConsoleDriver::txspace() {
-    // REVISIT mikem
-    return 0;
+    return _base_uart->txspace();
 }
 
 int16_t FLYMAPLEConsoleDriver::read() {
-    return SerialUSB.read();
+    return _base_uart->read();
 }
 
 size_t FLYMAPLEConsoleDriver::write(uint8_t c) {
-    SerialUSB.write(c);
-    return 1;
+    return _base_uart->write(c);
 }
 
 #endif

libraries/AP_HAL_FLYMAPLE/Console.h

@@ -6,7 +6,7 @@
 
 class AP_HAL_FLYMAPLE_NS::FLYMAPLEConsoleDriver : public AP_HAL::ConsoleDriver {
 public:
-    FLYMAPLEConsoleDriver(void* notused);
+    FLYMAPLEConsoleDriver(void* baseuartdriver);
     void init(void* machtnichts);
     void backend_open();
     void backend_close();
@@ -19,6 +19,7 @@ public:
 
     size_t write(uint8_t c);
 private:
+    AP_HAL::UARTDriver* _base_uart;
 };
 
 #endif // __AP_HAL_FLYMAPLE_CONSOLE_H__

libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt

@@ -62,21 +62,31 @@ Resource usage
 Resources on the Flymaple board have been allocated by the HAL:
 
 Pins
-0	GPS Rx in
+0	AP GPS on Flymaple Serial2  Rx in. This is where you connect the
+        GPS. 3.3V only, NOT 5V tolerant
+1       AP GPS on Flymaple Serial2  Tx out. This is where you connect the GPS.
+	3.3V
 6	Receiver PPM in
-7	GCS Rx in
-8	GCS Tx out
-15	3.3V board VCC analog in
-16	Airspeed analog in (if available)
-19	Battery current analog in (if available)
+7	Console and Mavlink on Flymaple Serial1 Rx in. Also on connector
+	"COM1". 5V tolerant.
+8	Console and Mavlink on Flymaple Serial1 Tx out. Also on connector
+	"COM1". 3.3V
+15	3.3V board VCC analog in. Connect to 3.3V pin.
+16	Airspeed analog in (if available). 3.3V, NOT 5V tolerant.
+19	Battery current analog in (if available). 3.3V, NOT 5V tolerant.
 20	Battery voltage analog in (on-board divider connected to board VIN)
+29	Telemetry Tx to radio on Serial3 on connector labelled "GPS". 3.3V
+30      Telemetry Rx from radio on Serial3 on connector labelled "GPS". 5V tolerant.
 
 Timers
-SysTick	100Hz normal timers
+SysTick	1000Hz normal timers
 1	RCInput
-2	Failsafe timer
+2	1000Hz Failsafe timer
 3,4	RCOut
-8	not used
+8	not used by AP
+
+The SerialUSB (USB connection) to Flymaple is not used by AP. It can be used for
+debugging inside AP_HAL_FLYMAPLE, using SerialUSB.println().
 
 Installation on Linux
 

libraries/AP_HAL_FLYMAPLE/HAL_FLYMAPLE_Class.cpp

@@ -24,13 +24,13 @@
 
 using namespace AP_HAL_FLYMAPLE_NS;
 class HardwareSerial;
-extern HardwareSerial Serial1;
-extern HardwareSerial Serial2;
-extern HardwareSerial Serial3;
+extern HardwareSerial Serial1; // Serial1 is labelled "COM1" on Flymaple pins 7 and 8
+extern HardwareSerial Serial2; // Serial2 is Flymaple pins 0 and 1
+extern HardwareSerial Serial3; // Serial3 is labelled "GPS" on Flymaple pins 29 and 30
 
-static FLYMAPLEUARTDriver uartADriver(&Serial1); // "COM1"
-static FLYMAPLEUARTDriver uartBDriver(&Serial2);
-static FLYMAPLEUARTDriver uartCDriver(&Serial3); // "GPS"
+static FLYMAPLEUARTDriver uartADriver(&Serial1); // AP Console and highspeed mavlink
+static FLYMAPLEUARTDriver uartBDriver(&Serial2); // AP GPS connection
+static FLYMAPLEUARTDriver uartCDriver(&Serial3); // Optional AP telemetry radio
 static FLYMAPLESemaphore  i2cSemaphore;
 static FLYMAPLEI2CDriver  i2cDriver(&i2cSemaphore);
 static FLYMAPLESPIDeviceManager spiDeviceManager;
@@ -66,7 +66,11 @@ void HAL_FLYMAPLE::init(int argc,char* const argv[]) const {
      * up to the programmer to do this in the correct order.
      * Scheduler should likely come first. */
     scheduler->init(NULL);
-    console->init(NULL);
+
+    /* uartA is the serial port used for the console, so lets make sure
+     * it is initialized at boot */
+    uartA->begin(115200);
+    console->init(uartA);
 
     /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
      * as the init argument */