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

This commit is contained in:
Mike McCauley 2013-09-25 08:22:04 +10:00 committed by Andrew Tridgell
parent b02dbca9d4
commit 06478bde52
4 changed files with 40 additions and 24 deletions

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@ -14,6 +14,8 @@
*/ */
/* /*
Flymaple port by Mike McCauley 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> #include <AP_HAL.h>
@ -35,8 +37,9 @@ using namespace AP_HAL_FLYMAPLE_NS;
FLYMAPLEConsoleDriver::FLYMAPLEConsoleDriver(void* notused) 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() void FLYMAPLEConsoleDriver::backend_open()
@ -54,21 +57,19 @@ size_t FLYMAPLEConsoleDriver::backend_write(const uint8_t *data, size_t len) {
} }
int16_t FLYMAPLEConsoleDriver::available() { int16_t FLYMAPLEConsoleDriver::available() {
return SerialUSB.available(); return _base_uart->available();
} }
int16_t FLYMAPLEConsoleDriver::txspace() { int16_t FLYMAPLEConsoleDriver::txspace() {
// REVISIT mikem return _base_uart->txspace();
return 0;
} }
int16_t FLYMAPLEConsoleDriver::read() { int16_t FLYMAPLEConsoleDriver::read() {
return SerialUSB.read(); return _base_uart->read();
} }
size_t FLYMAPLEConsoleDriver::write(uint8_t c) { size_t FLYMAPLEConsoleDriver::write(uint8_t c) {
SerialUSB.write(c); return _base_uart->write(c);
return 1;
} }
#endif #endif

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

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@ -62,21 +62,31 @@ Resource usage
Resources on the Flymaple board have been allocated by the HAL: Resources on the Flymaple board have been allocated by the HAL:
Pins 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 6 Receiver PPM in
7 GCS Rx in 7 Console and Mavlink on Flymaple Serial1 Rx in. Also on connector
8 GCS Tx out "COM1". 5V tolerant.
15 3.3V board VCC analog in 8 Console and Mavlink on Flymaple Serial1 Tx out. Also on connector
16 Airspeed analog in (if available) "COM1". 3.3V
19 Battery current analog in (if available) 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) 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 Timers
SysTick 100Hz normal timers SysTick 1000Hz normal timers
1 RCInput 1 RCInput
2 Failsafe timer 2 1000Hz Failsafe timer
3,4 RCOut 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 Installation on Linux

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@ -24,13 +24,13 @@
using namespace AP_HAL_FLYMAPLE_NS; using namespace AP_HAL_FLYMAPLE_NS;
class HardwareSerial; class HardwareSerial;
extern HardwareSerial Serial1; extern HardwareSerial Serial1; // Serial1 is labelled "COM1" on Flymaple pins 7 and 8
extern HardwareSerial Serial2; extern HardwareSerial Serial2; // Serial2 is Flymaple pins 0 and 1
extern HardwareSerial Serial3; extern HardwareSerial Serial3; // Serial3 is labelled "GPS" on Flymaple pins 29 and 30
static FLYMAPLEUARTDriver uartADriver(&Serial1); // "COM1" static FLYMAPLEUARTDriver uartADriver(&Serial1); // AP Console and highspeed mavlink
static FLYMAPLEUARTDriver uartBDriver(&Serial2); static FLYMAPLEUARTDriver uartBDriver(&Serial2); // AP GPS connection
static FLYMAPLEUARTDriver uartCDriver(&Serial3); // "GPS" static FLYMAPLEUARTDriver uartCDriver(&Serial3); // Optional AP telemetry radio
static FLYMAPLESemaphore i2cSemaphore; static FLYMAPLESemaphore i2cSemaphore;
static FLYMAPLEI2CDriver i2cDriver(&i2cSemaphore); static FLYMAPLEI2CDriver i2cDriver(&i2cSemaphore);
static FLYMAPLESPIDeviceManager spiDeviceManager; 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. * up to the programmer to do this in the correct order.
* Scheduler should likely come first. */ * Scheduler should likely come first. */
scheduler->init(NULL); 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* /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
* as the init argument */ * as the init argument */