Rover: use new HAL usb_connected() function

APMrover2/APMrover2.pde

@@ -305,10 +305,8 @@ AP_Mount camera_mount(&current_loc, g_gps, &ahrs, 0);
 // Global variables
 ////////////////////////////////////////////////////////////////////////////////
 
-// APM2 only
+// if USB is connected
-#if USB_MUX_PIN > 0
 static bool usb_connected;
-#endif
 
 /* Radio values
 		Channel assignments

APMrover2/GCS_Mavlink.pde

@@ -468,22 +468,13 @@ static bool telemetry_delayed(mavlink_channel_t chan)
     if (tnow > (uint32_t)g.telem_delay) {
         return false;
     }
-#if USB_MUX_PIN > 0
+    if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
-    if (chan == MAVLINK_COMM_0 && usb_connected) {
+        // this is USB telemetry, so won't be an Xbee
-        // this is an APM2 with USB telemetry
         return false;
     }
     // we're either on the 2nd UART, or no USB cable is connected
-    // we need to delay telemetry
+    // we need to delay telemetry by the TELEM_DELAY time
     return true;
-#else
-    if (chan == MAVLINK_COMM_0) {
-        // we're on the USB port
-        return false;
-    }
-    // don't send telemetry yet
-    return true;
-#endif
 }
 
 

APMrover2/config.h

@@ -67,7 +67,6 @@
 # define LED_OFF          LOW
 # define SLIDE_SWITCH_PIN 40
 # define PUSHBUTTON_PIN   41
-# define USB_MUX_PIN      -1
 # define BATTERY_PIN_1	  0
 # define CURRENT_PIN_1	  1
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
@@ -82,7 +81,6 @@
 # define SLIDE_SWITCH_PIN (-1)
 # define PUSHBUTTON_PIN   (-1)
 # define CLI_SLIDER_ENABLED DISABLED
-# define USB_MUX_PIN 23
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@@ -97,7 +95,6 @@
 # define SLIDE_SWITCH_PIN (-1)
 # define PUSHBUTTON_PIN   (-1)
 # define CLI_SLIDER_ENABLED DISABLED
-# define USB_MUX_PIN -1
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
@@ -112,7 +109,6 @@
 # define SLIDE_SWITCH_PIN (-1)
 # define PUSHBUTTON_PIN   (-1)
 # define CLI_SLIDER_ENABLED DISABLED
-# define USB_MUX_PIN -1
 # define BATTERY_PIN_1	  -1
 # define CURRENT_PIN_1	  -1
 #endif

APMrover2/system.pde

@@ -71,24 +71,6 @@ static void run_cli(AP_HAL::UARTDriver *port)
 
 static void init_ardupilot()
 {
-#if USB_MUX_PIN > 0
-    // on the APM2 board we have a mux thet switches UART0 between
-    // USB and the board header. If the right ArduPPM firmware is
-    // installed we can detect if USB is connected using the
-    // USB_MUX_PIN
-    pinMode(USB_MUX_PIN, INPUT);
-
-    usb_connected = !digitalRead(USB_MUX_PIN);
-    if (!usb_connected) {
-        // USB is not connected, this means UART0 may be a Xbee, with
-        // its darned bricking problem. We can't write to it for at
-        // least one second after powering up. Simplest solution for
-        // now is to delay for 1 second. Something more elegant may be
-        // added later
-        delay(1000);
-    }
-#endif
-
 	// Console serial port
 	//
 	// The console port buffers are defined to be sufficiently large to support
@@ -138,17 +120,16 @@ static void init_ardupilot()
     // more than 5ms remaining in your call to hal.scheduler->delay
     hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
 
-#if USB_MUX_PIN > 0
+    usb_connected = hal.gpio->usb_connected();
     if (!usb_connected) {
         // we are not connected via USB, re-init UART0 with right
         // baud rate
         hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
     }
-#else
+
     // we have a 2nd serial port for telemetry
     hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
 	gcs3.init(hal.uartC);
-#endif
 
 	mavlink_system.sysid = g.sysid_this_mav;
 
@@ -235,9 +216,9 @@ static void init_ardupilot()
 #else
     const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
     cliSerial->println_P(msg);
-#if USB_MUX_PIN == 0
+    if (gcs3.initialised) {
         hal.uartC->println_P(msg);
-#endif
+    }
 #endif // CLI_ENABLED
 
 	startup_ground();
@@ -450,8 +431,7 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
 
 static void check_usb_mux(void)
 {
-#if USB_MUX_PIN > 0
+    bool usb_check = hal.gpio->usb_connected();
-    bool usb_check = !digitalRead(USB_MUX_PIN);
     if (usb_check == usb_connected) {
         return;
     }
@@ -459,11 +439,10 @@ static void check_usb_mux(void)
     // the user has switched to/from the telemetry port
     usb_connected = usb_check;
     if (usb_connected) {
-        hal.uartA->begin(SERIAL0_BAUD, 128, 128);
+        hal.uartA->begin(SERIAL0_BAUD);
     } else {
-        hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
+        hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
     }
-#endif
 }