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AP_Periph: added RC input serial port options

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This commit is contained in:
Andrew Tridgell 2023-08-06 14:16:08 +10:00 committed by Peter Barker
parent 24139d661a
commit 312ca017a0
3 changed files with 16 additions and 0 deletions
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12
Tools/AP_Periph/Parameters.cpp
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@ -20,6 +20,10 @@ extern const AP_HAL::HAL &hal;
#define AP_PERIPH_RC1_PORT_DEFAULT -1 #define AP_PERIPH_RC1_PORT_DEFAULT -1
#endif #endif
#ifndef AP_PERIPH_RC1_PORT_OPTIONS_DEFAULT
#define AP_PERIPH_RC1_PORT_OPTIONS_DEFAULT 0
#endif
#ifndef HAL_PERIPH_GPS_PORT_DEFAULT #ifndef HAL_PERIPH_GPS_PORT_DEFAULT
#define HAL_PERIPH_GPS_PORT_DEFAULT 3 #define HAL_PERIPH_GPS_PORT_DEFAULT 3
#endif #endif
@ -594,6 +598,14 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @User: Advanced // @User: Advanced
// @RebootRequired: True // @RebootRequired: True
GSCALAR(rcin1_port, "RC1_PORT", AP_PERIPH_RC1_PORT_DEFAULT), GSCALAR(rcin1_port, "RC1_PORT", AP_PERIPH_RC1_PORT_DEFAULT),
// @Param: RC1_PORT_OPTIONS
// @DisplayName: RC input port serial options
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to RC input.
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate
GSCALAR(rcin1_port_options, "RC1_PORT_OPTIONS", AP_PERIPH_RC1_PORT_OPTIONS_DEFAULT),
// @RebootRequired: True
#endif // HAL_PERIPH_ENABLE_RCIN #endif // HAL_PERIPH_ENABLE_RCIN
AP_VAREND AP_VAREND

2
Tools/AP_Periph/Parameters.h
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@ -81,6 +81,7 @@ public:
k_param_rcin_protocols, k_param_rcin_protocols,
k_param_rcin_rate_hz, k_param_rcin_rate_hz,
k_param_rcin1_port, k_param_rcin1_port,
k_param_rcin1_port_options,
}; };
AP_Int16 format_version; AP_Int16 format_version;
@ -118,6 +119,7 @@ public:
AP_Int32 rcin_protocols; AP_Int32 rcin_protocols;
AP_Int8 rcin_rate_hz; AP_Int8 rcin_rate_hz;
AP_Int8 rcin1_port; AP_Int8 rcin1_port;
AP_Int16 rcin1_port_options;
#endif #endif
#if HAL_PROXIMITY_ENABLED #if HAL_PROXIMITY_ENABLED

2
Tools/AP_Periph/rc_in.cpp
View File

@ -35,6 +35,8 @@ void AP_Periph_FW::rcin_init()
return; return;
} }
uart->set_options(g.rcin1_port_options);
serial_manager.set_protocol_and_baud( serial_manager.set_protocol_and_baud(
g.rcin1_port, g.rcin1_port,
AP_SerialManager::SerialProtocol_RCIN, AP_SerialManager::SerialProtocol_RCIN,