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FrSky_Telem: init uart when protocol is S-Port

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This commit is contained in:
Randy Mackay 2015-01-27 20:52:17 +09:00 committed by Andrew Tridgell
parent 5c086acc15
commit 19aa8939de
2 changed files with 27 additions and 10 deletions
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32
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -28,7 +28,7 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, AP_BattMonitor &battery) :
_ahrs(ahrs),
_battery(battery),
_port(NULL),
_initialised(false),
_initialised_uart(false),
_protocol(FrSkyUnknown),
_crc(0),
_last_frame1_ms(0),
@ -75,6 +75,7 @@ void AP_Frsky_Telem::init(const AP_SerialManager& serial_manager)
if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_DPort, frsky_serial)) {
_port = frsky_serial.uart;
_protocol = FrSkyDPORT;
_initialised_uart = true; // SerialManager initialises uart for us
}
// check for FRSky_SPort
if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_SPort, frsky_serial)) {
@ -92,10 +93,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager& serial_manager)
_sport_status = 0;
hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&AP_Frsky_Telem::sport_tick));
}
// initialise port ignoring serial ports baud rate parameter
if (_port != NULL) {
_initialised = true;
}
}
/*
@ -106,7 +103,7 @@ void AP_Frsky_Telem::init(const AP_SerialManager& serial_manager)
void AP_Frsky_Telem::send_frames(uint8_t control_mode)
{
// return immediately if not initialised
if (!_initialised) {
if (!_initialised_uart) {
return;
}
@ -137,6 +134,23 @@ void AP_Frsky_Telem::send_frames(uint8_t control_mode)
}
}
/*
init_uart_for_sport - initialise uart for use by sport
this must be called from sport_tick which is called from the 1khz scheduler
because the UART begin must be called from the same thread as it is used from
*/
void AP_Frsky_Telem::init_uart_for_sport()
{
// sanity check protocol
if (_protocol != FrSkySPORT) {
return;
}
// initialise uart
_port->begin(AP_SERIALMANAGER_FRSKY_SPORT_BAUD, AP_SERIALMANAGER_FRSKY_BUFSIZE_RX, AP_SERIALMANAGER_FRSKY_BUFSIZE_TX);
_initialised_uart = true;
}
/*
send_hub_frame - send frame1 and frame2 when protocol is FrSkyDPORT
frame 1 is sent every 200ms with baro alt, nb sats, batt volts and amp, control_mode
@ -188,9 +202,9 @@ void AP_Frsky_Telem::send_hub_frame()
*/
void AP_Frsky_Telem::sport_tick(void)
{
if (!_initialised) {
_port->begin(57600);
_initialised = true;
// check UART has been initialised
if (!_initialised_uart) {
init_uart_for_sport();
}
int16_t numc;

5
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -93,6 +93,9 @@ public:
private:
// init_uart_for_sport - initialise uart for use by sport
void init_uart_for_sport();
// send_hub_frame - main transmission function when protocol is FrSkyDPORT
void send_hub_frame();
@ -139,7 +142,7 @@ private:
AP_AHRS &_ahrs; // reference to attitude estimate
AP_BattMonitor &_battery; // reference to battery monitor object
AP_HAL::UARTDriver *_port; // UART used to send data to receiver
bool _initialised; // true when we have detected the protocol to use
bool _initialised_uart; // true when we have detected the protocol and UART has been initialised
enum FrSkyProtocol _protocol; // protocol used - detected using SerialManager's SERIALX_PROTOCOL parameter
uint16_t _crc;