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AP_Periph: added RNGFND_BAUDRATE

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allows control of rangefinder baudrate
This commit is contained in:
Andrew Tridgell 2019-10-28 11:31:29 +11:00
parent 2708c99bfb
commit 3884419153
3 changed files with 14 additions and 0 deletions
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6
Tools/AP_Periph/AP_Periph.cpp
View File

@ -120,6 +120,9 @@ void AP_Periph_FW::init()
#endif #endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER #ifdef HAL_PERIPH_ENABLE_RANGEFINDER
const uint8_t sernum = 3; // uartB
hal.uartB->begin(g.rangefinder_baud);
serial_manager.set_protocol_and_baud(sernum, AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud);
rangefinder.init(ROTATION_NONE); rangefinder.init(ROTATION_NONE);
#endif #endif
@ -197,6 +200,9 @@ void AP_Periph_FW::update()
#endif #endif
#ifdef HAL_PERIPH_ENABLE_BARO #ifdef HAL_PERIPH_ENABLE_BARO
hal.uartA->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature()); hal.uartA->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
hal.uartA->printf("RNG %u %ucm\n", rangefinder.num_sensors(), rangefinder.distance_cm_orient(ROTATION_NONE));
#endif #endif
hal.scheduler->delay(1); hal.scheduler->delay(1);
show_stack_usage(); show_stack_usage();

4
Tools/AP_Periph/Parameters.cpp
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@ -70,6 +70,10 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GOBJECT(airspeed, "ARSP", AP_Airspeed), GOBJECT(airspeed, "ARSP", AP_Airspeed),
#endif #endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
GSCALAR(rangefinder_baud, "RNGFND_BAUDRATE", 115200),
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER #ifdef HAL_PERIPH_ENABLE_RANGEFINDER
// Rangefinder driver // Rangefinder driver
// @Group: RNGFND // @Group: RNGFND

4
Tools/AP_Periph/Parameters.h
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@ -22,6 +22,7 @@ public:
k_param_airspeed, k_param_airspeed,
k_param_rangefinder, k_param_rangefinder,
k_param_flash_bootloader, k_param_flash_bootloader,
k_param_rangefinder_baud,
}; };
AP_Int16 format_version; AP_Int16 format_version;
@ -38,6 +39,9 @@ public:
AP_Int8 flash_bootloader; AP_Int8 flash_bootloader;
#endif #endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
AP_Int32 rangefinder_baud;
#endif
Parameters() {} Parameters() {}
}; };