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GCS_MAVLink: added setup_uart() method 

this provides a common way of dealing with UART setup for a GCS
instance. It includes code to cope with SiK radios stuck in bootloader
mode.
This commit is contained in:
Andrew Tridgell 2014-05-16 11:44:33 +10:00
parent 3a73878ca7
commit 49e7ee9ba7
2 changed files with 36 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -144,6 +144,7 @@ public:
GCS_MAVLINK();
void update(void);
void init(AP_HAL::UARTDriver *port);
void setup_uart(AP_HAL::UARTDriver *port, uint32_t baudrate, uint16_t rxS, uint16_t txS);
void send_message(enum ap_message id);
void send_text(gcs_severity severity, const char *str);
void send_text_P(gcs_severity severity, const prog_char_t *str);

35
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -54,6 +54,41 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
}
/*
setup a UART, handling begin() and init()
*/
void
GCS_MAVLINK::setup_uart(AP_HAL::UARTDriver *port, uint32_t baudrate, uint16_t rxS, uint16_t txS)
{
if (port == NULL) {
return;
}
/*
Now try to cope with SiK radios that may be stuck in bootloader
mode because CTS was held while powering on. This tells the
bootloader to wait for a firmware. It affects any SiK radio with
CTS connected that is externally powered. To cope we send 0x30
0x20 at 115200 on startup, which tells the bootloader to reset
and boot normally
*/
port->begin(115200, rxS, txS);
AP_HAL::UARTDriver::flow_control old_flow_control = port->get_flow_control();
port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
for (uint8_t i=0; i<3; i++) {
hal.scheduler->delay(1);
port->write(0x30);
port->write(0x20);
}
port->set_flow_control(old_flow_control);
// now change to desired baudrate
port->begin(baudrate);
// and init the gcs instance
init(port);
}
uint16_t
GCS_MAVLINK::_count_parameters()
{