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AP_HAL: RCOutput_Tap: allow different device to be used

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This commit is contained in:
Lucas De Marchi 2017-05-18 22:55:57 -07:00
parent f6b1099896
commit 58a76adc13
2 changed files with 8 additions and 9 deletions
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1
libraries/AP_HAL/board/px4.h
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@ -39,6 +39,7 @@
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
#define HAL_STORAGE_SIZE 16384
#define USE_FLASH_STORAGE 1
#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS0"
// we don't have any sdcard
#undef HAL_BOARD_LOG_DIRECTORY
#undef HAL_BOARD_TERRAIN_DIRECTORY

16
libraries/AP_HAL/utility/RCOutput_Tap.cpp
View File

@ -50,7 +50,7 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
#ifdef HAL_RCOUTPUT_TAP_DEVICE
#include "RCOutput_Tap.h"
@ -71,8 +71,6 @@
#define debug(fmt, args...)
#endif
#define UART_DEVICE_PATH "/dev/ttyS0"
extern const AP_HAL::HAL &hal;
/****** ESC data types ******/
@ -316,11 +314,11 @@ void RCOutput_Tap::_uart_close()
bool RCOutput_Tap::_uart_open()
{
// open uart
_uart_fd = open(UART_DEVICE_PATH, O_RDWR | O_NOCTTY | O_NONBLOCK);
_uart_fd = open(HAL_RCOUTPUT_TAP_DEVICE, O_RDWR | O_NOCTTY | O_NONBLOCK);
int termios_state = -1;
if (_uart_fd < 0) {
::fprintf(stderr, "failed to open uart device! %s\n", UART_DEVICE_PATH);
::fprintf(stderr, "failed to open uart device! %s\n", HAL_RCOUTPUT_TAP_DEVICE);
return -1;
}
@ -335,13 +333,13 @@ bool RCOutput_Tap::_uart_open()
// set baud rate
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
::fprintf(stderr, "failed to set baudrate for %s: %d\n",
UART_DEVICE_PATH, termios_state);
HAL_RCOUTPUT_TAP_DEVICE, termios_state);
_uart_close();
return false;
}
if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "tcsetattr failed for %s\n", UART_DEVICE_PATH);
fprintf(stderr, "tcsetattr failed for %s\n", HAL_RCOUTPUT_TAP_DEVICE);
_uart_close();
return false;
}
@ -354,7 +352,7 @@ void RCOutput_Tap::init()
_perf_rcout = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "APM_rcout");
if (!_uart_open()) {
AP_HAL::panic("Unable to open " UART_DEVICE_PATH);
AP_HAL::panic("Unable to open " HAL_RCOUTPUT_TAP_DEVICE);
return;
}
@ -383,7 +381,7 @@ void RCOutput_Tap::init()
int ret = _send_packet(packet);
if (ret < 0) {
_uart_close();
AP_HAL::panic("Unable to send configuration to " UART_DEVICE_PATH);
AP_HAL::panic("Unable to send configuration to " HAL_RCOUTPUT_TAP_DEVICE);
return;
}