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Copter: integrate SerialManager 

Remove serial0, serial1 baud and protocol parameters
Pass serial_manager to GCS, GPS, mount, FrSky_telem objects during init
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
This commit is contained in:
Randy Mackay 2015-01-19 22:52:54 +09:00 committed by Andrew Tridgell
parent 4a4387530a
commit 34503de18e
6 changed files with 38 additions and 117 deletions
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2
ArduCopter/ArduCopter.pde
View File

@ -101,6 +101,7 @@
// Application dependencies
#include <GCS.h>
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_SerialManager.h> // Serial manager library
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_GPS_Glitch.h> // GPS glitch protection library
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
@ -316,6 +317,7 @@ static float ekfNavVelGainScaler;
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
static AP_SerialManager serial_manager;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];

15
ArduCopter/Parameters.h
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@ -115,9 +115,9 @@ public:
k_param_poshold_brake_rate,
k_param_poshold_brake_angle_max,
k_param_pilot_accel_z,
k_param_serial0_baud,
k_param_serial1_baud,
k_param_serial2_baud,
k_param_serial0_baud, // deprecated - remove
k_param_serial1_baud, // deprecated - remove
k_param_serial2_baud, // deprecated - remove
k_param_land_repositioning,
k_param_sonar, // sonar object
k_param_ekfcheck_thresh,
@ -182,7 +182,8 @@ public:
k_param_telem_delay,
k_param_gcs2,
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol,
k_param_serial2_protocol, // deprecated
k_param_serial_manager, // 119
//
// 140: Sensor parameters
@ -325,12 +326,6 @@ public:
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int16 serial0_baud;
AP_Int16 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int16 serial2_baud;
AP_Int8 serial2_protocol;
#endif
AP_Int8 telem_delay;
AP_Int16 rtl_altitude;

39
ArduCopter/Parameters.pde
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@ -53,39 +53,9 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL0_BAUD
// @DisplayName: USB Console Baud Rate
// @Description: The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
GSCALAR(serial0_baud, "SERIAL0_BAUD", SERIAL0_BAUD/1000),
// @Param: SERIAL1_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
GSCALAR(serial1_baud, "SERIAL1_BAUD", SERIAL1_BAUD/1000),
#if MAVLINK_COMM_NUM_BUFFERS > 2
// @Param: SERIAL2_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the second telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
GSCALAR(serial2_baud, "SERIAL2_BAUD", SERIAL2_BAUD/1000),
#if FRSKY_TELEM_ENABLED == ENABLED
// @Param: SERIAL2_PROTOCOL
// @DisplayName: Serial2 protocol selection
// @Description: Control what protocol telemetry 2 port should be used for
// @Values: 1:GCS Mavlink,2:Frsky D-PORT,3:Frsky S-PORT
// @User: Standard
GSCALAR(serial2_protocol, "SERIAL2_PROTOCOL", SERIAL2_MAVLINK),
#endif // FRSKY_TELEM_ENABLED
#endif // MAVLINK_COMM_NUM_BUFFERS
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
@ -1091,6 +1061,9 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
{ Parameters::k_param_curr_amp_per_volt, 0, AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
{ Parameters::k_param_pack_capacity, 0, AP_PARAM_INT32, "BATT_CAPACITY" },
{ Parameters::k_param_log_bitmask_old, 0, AP_PARAM_INT16, "LOG_BITMASK" },
{ Parameters::k_param_serial0_baud, 0, AP_PARAM_INT16, "SERIAL0_BAUD" },
{ Parameters::k_param_serial1_baud, 0, AP_PARAM_INT16, "SERIAL1_BAUD" },
{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },
};
static void load_parameters(void)

18
ArduCopter/config.h
View File

@ -58,10 +58,6 @@
#define CONFIG_BARO HAL_BARO_DEFAULT
#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
#ifdef HAL_SERIAL0_BAUD_DEFAULT
# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
@ -259,20 +255,6 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL1_BAUD
# define SERIAL1_BAUD 57600
#endif
#ifndef SERIAL2_BAUD
# define SERIAL2_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//

6
ArduCopter/defines.h
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@ -392,10 +392,4 @@ enum FlipState {
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<11)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<12)
enum Serial2Protocol {
SERIAL2_MAVLINK = 1,
SERIAL2_FRSKY_DPORT = 2,
SERIAL2_FRSKY_SPORT = 3 // not supported yet
};
#endif // _DEFINES_H

75
ArduCopter/system.pde
View File

@ -82,32 +82,8 @@ static void init_ardupilot()
delay(1000);
}
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the MAVLink protocol efficiently
//
#if HIL_MODE != HIL_MODE_DISABLED
// we need more memory for HIL, as we get a much higher packet rate
hal.uartA->begin(map_baudrate(g.serial0_baud), 256, 256);
#else
// use a bit less for non-HIL operation
hal.uartA->begin(map_baudrate(g.serial0_baud), 512, 128);
#endif
// GPS serial port.
//
#if GPS_PROTOCOL != GPS_PROTOCOL_IMU
// standard gps running. Note that we need a 256 byte buffer for some
// GPS types (eg. UBLOX)
hal.uartB->begin(38400, 256, 16);
#endif
#if GPS2_ENABLE
if (hal.uartE != NULL) {
hal.uartE->begin(38400, 256, 16);
}
#endif
// initialise serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
@ -131,6 +107,9 @@ static void init_ardupilot()
BoardConfig.init();
// initialise serial port
serial_manager.init();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
@ -147,8 +126,8 @@ static void init_ardupilot()
barometer.init();
// init the GCS
gcs[0].init(hal.uartA);
// init the GCS connected to the console
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
@ -164,16 +143,17 @@ static void init_ardupilot()
// we have a 2nd serial port for telemetry on all boards except
// APM2. We actually do have one on APM2 but it isn't necessary as
// a MUX is used
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, 128);
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 2
if (g.serial2_protocol == SERIAL2_FRSKY_DPORT ||
g.serial2_protocol == SERIAL2_FRSKY_SPORT) {
frsky_telemetry.init(hal.uartD, (AP_Frsky_Telem::FrSkyProtocol)g.serial2_protocol.get());
} else {
gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, 128);
}
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2);
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky
frsky_telemetry.init(serial_manager);
#endif
// identify ourselves correctly with the ground station
@ -211,7 +191,7 @@ static void init_ardupilot()
#endif // CONFIG_ADC
// Do GPS init
gps.init(&DataFlash);
gps.init(&DataFlash, serial_manager);
if(g.compass_enabled)
init_compass();
@ -232,7 +212,7 @@ static void init_ardupilot()
inertial_nav.init();
// initialise camera mount
camera_mount.init();
camera_mount.init(serial_manager);
#ifdef USERHOOK_INIT
USERHOOK_INIT
@ -241,11 +221,11 @@ static void init_ardupilot()
#if CLI_ENABLED == ENABLED
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
cliSerial->println_P(msg);
if (gcs[1].initialised) {
hal.uartC->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println_P(msg);
}
if (num_gcs > 2 && gcs[2].initialised) {
hal.uartD->println_P(msg);
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println_P(msg);
}
#endif // CLI_ENABLED
@ -292,12 +272,7 @@ static void init_ardupilot()
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
hal.uartA->set_blocking_writes(false);
hal.uartB->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
if (hal.uartD != NULL) {
hal.uartD->set_blocking_writes(false);
}
serial_manager.set_blocking_writes_all(false);
cliSerial->print_P(PSTR("\nReady to FLY "));
@ -428,10 +403,10 @@ static void check_usb_mux(void)
// between USB and a TTL serial connection. When on USB we use
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
// at SERIAL1_BAUD.
if (ap.usb_connected) {
hal.uartA->begin(map_baudrate(g.serial0_baud));
if (usb_connected) {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console);
} else {
hal.uartA->begin(map_baudrate(g.serial1_baud));
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1);
}
#endif
}