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AP_Periph: change GPS and Rangefinder to use port stored in param

This commit is contained in:
Tom Pittenger 2020-12-22 15:29:59 -08:00 committed by Tom Pittenger
parent 083088bfff
commit 7af731fbda
3 changed files with 37 additions and 7 deletions
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11
Tools/AP_Periph/AP_Periph.cpp
View File

@ -107,6 +107,7 @@ void AP_Periph_FW::init()
#ifdef HAL_PERIPH_ENABLE_GPS
if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE) {
serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
gps.init(serial_manager);
}
#endif
@ -149,10 +150,12 @@ void AP_Periph_FW::init()
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
if (rangefinder.get_type(0) != RangeFinder::Type::NONE) {
const uint8_t sernum = 3; // uartB
hal.serial(3)->begin(g.rangefinder_baud);
serial_manager.set_protocol_and_baud(sernum, AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud);
rangefinder.init(ROTATION_NONE);
auto *uart = hal.serial(g.rangefinder_port);
if (uart != nullptr) {
uart->begin(g.rangefinder_baud);
serial_manager.set_protocol_and_baud(g.rangefinder_port, AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud);
rangefinder.init(ROTATION_NONE);
}
}
#endif

26
Tools/AP_Periph/Parameters.cpp
View File

@ -6,6 +6,18 @@ extern const AP_HAL::HAL &hal;
#define AP_PERIPH_LED_BRIGHT_DEFAULT 100
#endif
#ifndef AP_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT
#define AP_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT 115200
#endif
#ifndef AP_PERIPH_RANGEFINDER_PORT_DEFAULT
#define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 3
#endif
#ifndef HAL_PERIPH_GPS_PORT_DEFAULT
#define HAL_PERIPH_GPS_PORT_DEFAULT 3
#endif
#ifndef HAL_PERIPH_ADSB_BAUD_DEFAULT
#define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
#endif
@ -55,6 +67,15 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Group: GPS_
// @Path: ../../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS_", AP_GPS),
// @Param: GPS_PORT
// @DisplayName: GPS Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to GPS.
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(gps_port, "GPS_PORT", HAL_PERIPH_GPS_PORT_DEFAULT),
#endif
#ifdef HAL_PERIPH_ENABLE_BATTERY
@ -89,10 +110,9 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
GSCALAR(rangefinder_baud, "RNGFND_BAUDRATE", 115200),
#endif
GSCALAR(rangefinder_baud, "RNGFND_BAUDRATE", AP_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT),
GSCALAR(rangefinder_port, "RNGFND_PORT", AP_PERIPH_RANGEFINDER_PORT_DEFAULT),
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
// Rangefinder driver
// @Group: RNGFND
// @Path: ../../libraries/AP_RangeFinder/Rangefinder.cpp

7
Tools/AP_Periph/Parameters.h
View File

@ -33,6 +33,8 @@ public:
k_param_serial_number,
k_param_adsb_port,
k_param_servo_channels,
k_param_rangefinder_port,
k_param_gps_port,
};
AP_Int16 format_version;
@ -53,6 +55,7 @@ public:
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
AP_Int32 rangefinder_baud;
AP_Int8 rangefinder_port;
#endif
#ifdef HAL_PERIPH_ENABLE_ADSB
@ -69,6 +72,10 @@ public:
AP_Int8 esc_number;
#endif
#ifdef HAL_PERIPH_ENABLE_GPS
AP_Int8 gps_port;
#endif
AP_Int8 debug;
AP_Int32 serial_number;