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Plane: integrate SerialManager

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call SerialManager init_console on startup
use SerialManager's set_block_writes_all
This commit is contained in:
Randy Mackay 2015-01-23 22:45:24 +09:00 committed by Andrew Tridgell
parent 5f432eaa2d
commit 3a1465c9d1
6 changed files with 39 additions and 111 deletions
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2
ArduPlane/ArduPlane.pde
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@ -59,6 +59,7 @@
#include <AP_AutoTune.h>
#include <GCS.h>
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_SerialManager.h> // Serial manager library
#include <AP_Mount.h> // Camera/Antenna mount
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <DataFlash.h>
@ -258,6 +259,7 @@ static bool in_calibration;
////////////////////////////////////////////////////////////////////////////////
// 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
ArduPlane/Parameters.h
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@ -107,9 +107,9 @@ public:
k_param_gps,
k_param_autotune_level,
k_param_rally,
k_param_serial0_baud,
k_param_serial1_baud,
k_param_serial2_baud,
k_param_serial0_baud, // deprecated
k_param_serial1_baud, // deprecated
k_param_serial2_baud, // deprecated
k_param_takeoff_tdrag_elevator,
k_param_takeoff_tdrag_speed1,
k_param_takeoff_rotate_speed,
@ -153,7 +153,7 @@ public:
k_param_serial0_baud_old, // deprecated
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol,
k_param_serial2_protocol, // deprecated
// 120: Fly-by-wire control
//
@ -187,6 +187,7 @@ public:
k_param_curr_amp_offset,
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_mission, // mission library
k_param_serial_manager, // serial manager library
//
// 150: Navigation parameters
@ -320,12 +321,6 @@ 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;
#if HIL_MODE != HIL_MODE_DISABLED

38
ArduPlane/Parameters.pde
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@ -38,38 +38,9 @@ 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: AUTOTUNE_LEVEL
// @DisplayName: Autotune level
@ -1189,6 +1160,9 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
{ Parameters::k_param_log_bitmask_old, 0, AP_PARAM_INT16, "LOG_BITMASK" },
{ Parameters::k_param_rally_limit_km_old, 0, AP_PARAM_FLOAT, "RALLY_LIMIT_KM" },
{ Parameters::k_param_rally_total_old, 0, AP_PARAM_INT8, "RALLY_TOTAL" },
{ 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)

31
ArduPlane/config.h
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@ -60,10 +60,6 @@
#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
@ -82,19 +78,6 @@
# define MAV_SYSTEM_ID 1
#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
//////////////////////////////////////////////////////////////////////////////
// FrSky telemetry support
//
@ -482,20 +465,6 @@
#define CLI_ENABLED DISABLED
#endif
#ifndef SERIAL_BUFSIZE
# define SERIAL_BUFSIZE 512
#endif
#ifndef SERIAL1_BUFSIZE
# define SERIAL1_BUFSIZE 256
#endif
#ifndef SERIAL2_BUFSIZE
# define SERIAL2_BUFSIZE 256
#endif
/*
build a firmware version string.
GIT_VERSION comes from Makefile builds

6
ArduPlane/defines.h
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@ -201,10 +201,4 @@ enum {
ATT_CONTROL_APMCONTROL = 1
};
enum Serial2Protocol {
SERIAL2_MAVLINK = 1,
SERIAL2_FRSKY_DPORT = 2,
SERIAL2_FRSKY_SPORT = 3 // not supported yet
};
#endif // _DEFINES_H

58
ArduPlane/system.pde
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@ -70,12 +70,8 @@ static void run_cli(AP_HAL::UARTDriver *port)
static void init_ardupilot()
{
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the MAVLink protocol efficiently
//
hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
// initialise serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
@ -95,14 +91,14 @@ static void init_ardupilot()
BoardConfig.init();
// initialise serial ports
serial_manager.init();
// allow servo set on all channels except first 4
ServoRelayEvents.set_channel_mask(0xFFF0);
set_control_channels();
// reset the uartA baud rate after parameter load
hal.uartA->begin(map_baudrate(g.serial0_baud));
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
@ -117,23 +113,24 @@ static void init_ardupilot()
battery.init();
// init the GCS
gcs[0].init(hal.uartA);
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// we have a 2nd serial port for telemetry
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
// setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
#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, SERIAL2_BUFSIZE);
}
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2);
#endif
// setup frsky
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.init(serial_manager);
#endif
mavlink_system.sysid = g.sysid_this_mav;
@ -179,7 +176,7 @@ static void init_ardupilot()
ahrs.set_airspeed(&airspeed);
// GPS Initialization
gps.init(&DataFlash);
gps.init(&DataFlash, serial_manager);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
@ -187,7 +184,7 @@ static void init_ardupilot()
relay.init();
// initialise camera mount
camera_mount.init();
camera_mount.init(serial_manager);
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
@ -200,14 +197,16 @@ static void init_ardupilot()
*/
hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
#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
startup_ground();
if (should_log(MASK_LOG_CMD))
@ -279,12 +278,7 @@ static void startup_ground(void)
// 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);
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
@ -583,9 +577,9 @@ static void check_usb_mux(void)
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
// at SERIAL1_BAUD.
if (usb_connected) {
hal.uartA->begin(SERIAL0_BAUD);
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
}