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HAL_PX4: added uartD

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This commit is contained in:
Andrew Tridgell 2013-11-22 19:16:51 +11:00
parent c000a08d6f
commit 0b25ff0a16
3 changed files with 24 additions and 2 deletions
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21
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
View File

@ -46,17 +46,20 @@ static PX4GPIO gpioDriver;
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTD_DEFAULT_DEVICE "/dev/null"
// 3 UART drivers, for GPS plus two mavlink-enabled devices
static PX4UARTDriver uartADriver(UARTA_DEFAULT_DEVICE, "APM_uartA");
static PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE, "APM_uartB");
static PX4UARTDriver uartCDriver(UARTC_DEFAULT_DEVICE, "APM_uartC");
static PX4UARTDriver uartDDriver(UARTD_DEFAULT_DEVICE, "APM_uartD");
HAL_PX4::HAL_PX4() :
AP_HAL::HAL(
&uartADriver, /* uartA */
&uartBDriver, /* uartB */
&uartCDriver, /* uartC */
&uartDDriver, /* uartD */
&i2cDriver, /* i2c */
&spiDeviceManager, /* spi */
&analogIn, /* analogin */
@ -107,6 +110,7 @@ static int main_loop(int argc, char **argv)
hal.uartA->begin(115200);
hal.uartB->begin(38400);
hal.uartC->begin(57600);
hal.uartD->begin(57600);
hal.scheduler->init(NULL);
hal.rcin->init(NULL);
hal.rcout->init(NULL);
@ -188,6 +192,7 @@ void HAL_PX4::init(int argc, char * const argv[]) const
int i;
const char *deviceA = UARTA_DEFAULT_DEVICE;
const char *deviceC = UARTC_DEFAULT_DEVICE;
const char *deviceD = UARTD_DEFAULT_DEVICE;
if (argc < 1) {
printf("%s: missing command (try '%s start')",
@ -206,8 +211,9 @@ void HAL_PX4::init(int argc, char * const argv[]) const
uartADriver.set_device_path(deviceA);
uartCDriver.set_device_path(deviceC);
printf("Starting %s on %s and %s\n",
SKETCHNAME, deviceA, deviceC);
uartDDriver.set_device_path(deviceD);
printf("Starting %s uartA=%s uartC=%s uartD=%s\n",
SKETCHNAME, deviceA, deviceC, deviceD);
_px4_thread_should_exit = false;
daemon_task = task_spawn_cmd(SKETCHNAME,
@ -256,6 +262,17 @@ void HAL_PX4::init(int argc, char * const argv[]) const
exit(1);
}
}
if (strcmp(argv[i], "-d3") == 0) {
// set uartD terminal device
if (argc > i + 1) {
deviceD = strdup(argv[i+1]);
} else {
printf("missing parameter to -d3 DEVICE\n");
usage();
exit(1);
}
}
}
usage();

1
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -282,6 +282,7 @@ void *PX4Scheduler::_uart_thread(void)
((PX4UARTDriver *)hal.uartA)->_timer_tick();
((PX4UARTDriver *)hal.uartB)->_timer_tick();
((PX4UARTDriver *)hal.uartC)->_timer_tick();
((PX4UARTDriver *)hal.uartD)->_timer_tick();
}
return NULL;
}

4
libraries/AP_HAL_PX4/UARTDriver.cpp
View File

@ -40,6 +40,10 @@ extern const AP_HAL::HAL& hal;
void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
if (strcmp(_devpath, "/dev/null") == 0) {
// leave uninitialised
return;
}
// on PX4 we have enough memory to have a larger transmit and
// receive buffer for all ports. This means we don't get delays
// while waiting to write GPS config packets