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AP_Periph: added MSP_PORT parameter

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allows MSP to be enabled/disabled
This commit is contained in:
Andrew Tridgell 2020-12-27 10:35:15 +11:00
parent 8b2e69162d
commit 37506c2f3a
4 changed files with 21 additions and 3 deletions
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8
Tools/AP_Periph/AP_Periph.cpp
View File

@ -106,7 +106,7 @@ void AP_Periph_FW::init()
} }
#ifdef HAL_PERIPH_ENABLE_GPS #ifdef HAL_PERIPH_ENABLE_GPS
if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE) { if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD); serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
gps.init(serial_manager); gps.init(serial_manager);
} }
@ -149,7 +149,7 @@ void AP_Periph_FW::init()
#endif #endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER #ifdef HAL_PERIPH_ENABLE_RANGEFINDER
if (rangefinder.get_type(0) != RangeFinder::Type::NONE) { if (rangefinder.get_type(0) != RangeFinder::Type::NONE && g.rangefinder_port >= 0) {
auto *uart = hal.serial(g.rangefinder_port); auto *uart = hal.serial(g.rangefinder_port);
if (uart != nullptr) { if (uart != nullptr) {
uart->begin(g.rangefinder_baud); uart->begin(g.rangefinder_baud);
@ -168,7 +168,9 @@ void AP_Periph_FW::init()
#endif #endif
#ifdef HAL_PERIPH_ENABLE_MSP #ifdef HAL_PERIPH_ENABLE_MSP
msp_init(hal.serial(2)); if (g.msp_port >= 0) {
msp_init(hal.serial(g.msp_port));
}
#endif #endif
start_ms = AP_HAL::native_millis(); start_ms = AP_HAL::native_millis();

8
Tools/AP_Periph/Parameters.cpp
View File

@ -25,6 +25,10 @@ extern const AP_HAL::HAL &hal;
#define HAL_PERIPH_ADSB_PORT_DEFAULT 1 #define HAL_PERIPH_ADSB_PORT_DEFAULT 1
#endif #endif
#ifndef AP_PERIPH_MSP_PORT_DEFAULT
#define AP_PERIPH_MSP_PORT_DEFAULT 1
#endif
/* /*
* AP_Periph parameter definitions * AP_Periph parameter definitions
* *
@ -140,6 +144,10 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GOBJECT(servo_channels, "OUT", SRV_Channels), GOBJECT(servo_channels, "OUT", SRV_Channels),
#endif #endif
#ifdef HAL_PERIPH_ENABLE_MSP
GSCALAR(msp_port, "MSP_PORT", AP_PERIPH_MSP_PORT_DEFAULT),
#endif
AP_VAREND AP_VAREND
}; };

5
Tools/AP_Periph/Parameters.h
View File

@ -35,6 +35,7 @@ public:
k_param_servo_channels, k_param_servo_channels,
k_param_rangefinder_port, k_param_rangefinder_port,
k_param_gps_port, k_param_gps_port,
k_param_msp_port,
}; };
AP_Int16 format_version; AP_Int16 format_version;
@ -76,6 +77,10 @@ public:
AP_Int8 gps_port; AP_Int8 gps_port;
#endif #endif
#ifdef HAL_PERIPH_ENABLE_MSP
AP_Int8 msp_port;
#endif
AP_Int8 debug; AP_Int8 debug;
AP_Int32 serial_number; AP_Int32 serial_number;

3
Tools/AP_Periph/msp.cpp
View File

@ -39,6 +39,9 @@ void AP_Periph_FW::send_msp_packet(uint16_t cmd, void *p, uint16_t size)
*/ */
void AP_Periph_FW::msp_sensor_update(void) void AP_Periph_FW::msp_sensor_update(void)
{ {
if (msp.port.uart == nullptr) {
return;
}
#ifdef HAL_PERIPH_ENABLE_GPS #ifdef HAL_PERIPH_ENABLE_GPS
send_msp_GPS(); send_msp_GPS();
#endif #endif