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Rover: use new HAL usb_connected() function

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This commit is contained in:
Andrew Tridgell 2013-09-19 16:24:59 +10:00
parent 754bdbd25f
commit 481429de61
4 changed files with 12 additions and 48 deletions
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4
APMrover2/APMrover2.pde
View File

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

15
APMrover2/GCS_Mavlink.pde
View File

@ -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 && usb_connected) {
// this is an APM2 with USB telemetry
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// this is USB telemetry, so won't be an Xbee
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
}

4
APMrover2/config.h
View File

@ -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

35
APMrover2/system.pde
View File

@ -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 = !digitalRead(USB_MUX_PIN);
bool usb_check = hal.gpio->usb_connected();
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
}