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Plane: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry

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This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol
This commit is contained in:
Matthias Badaire 2014-07-29 13:36:26 +02:00 committed by Craig Elder
parent 147e91877e
commit 874ef65d74
6 changed files with 62 additions and 3 deletions
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13
APMrover2/APMrover2.pde
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@ -97,6 +97,7 @@
#include <APM_Control.h> #include <APM_Control.h>
#include <AP_L1_Control.h> #include <AP_L1_Control.h>
#include <AP_BoardConfig.h> #include <AP_BoardConfig.h>
#include <AP_Frsky_Telem.h>
#include <AP_HAL_AVR.h> #include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h> #include <AP_HAL_AVR_SITL.h>
@ -434,6 +435,13 @@ static bool ch7_flag;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
static AP_BattMonitor battery; static AP_BattMonitor battery;
////////////////////////////////////////////////////////////////////////////////
// Battery Sensors
////////////////////////////////////////////////////////////////////////////////
#if FRSKY_TELEM_ENABLED == ENABLED
static AP_Frsky_Telem frsky_telemetry(ahrs, battery);
#endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Navigation control variables // Navigation control variables
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -537,7 +545,10 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ gcs_failsafe_check, 5, 600 }, { gcs_failsafe_check, 5, 600 },
{ compass_accumulate, 1, 900 }, { compass_accumulate, 1, 900 },
{ update_notify, 1, 300 }, { update_notify, 1, 300 },
{ one_second_loop, 50, 3000 } { one_second_loop, 50, 3000 },
#if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 10, 100 }
#endif
}; };

2
APMrover2/Parameters.h
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@ -68,6 +68,7 @@ public:
k_param_skip_gyro_cal, k_param_skip_gyro_cal,
k_param_gcs2, // stream rates for uartD k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old, k_param_serial2_baud_old,
k_param_serial2_protocol,
// //
// 130: Sensor parameters // 130: Sensor parameters
@ -213,6 +214,7 @@ public:
AP_Int16 serial1_baud; AP_Int16 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2 #if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int16 serial2_baud; AP_Int16 serial2_baud;
AP_Int8 serial2_protocol;
#endif #endif
AP_Int8 telem_delay; AP_Int8 telem_delay;
AP_Int8 skip_gyro_cal; AP_Int8 skip_gyro_cal;

13
APMrover2/Parameters.pde
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@ -77,7 +77,18 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000 // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard // @User: Standard
GSCALAR(serial2_baud, "SERIAL2_BAUD", SERIAL2_BAUD/1000), GSCALAR(serial2_baud, "SERIAL2_BAUD", SERIAL2_BAUD/1000),
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
// @Param: SERIAL2_PROTOCOL
// @DisplayName: SERIAL2 protocol selection
// @Description: Control what protocol telemetry 2 port should be used for
// @Values: 1:GCS Mavlink,2:Frsky D-PORT
// @User: Standard
GSCALAR(serial2_protocol, "SERIAL2_PROTOCOL", SERIAL2_MAVLINK),
#endif // FRSKY_TELEM_ENABLED
#endif // MAVLINK_COMM_NUM_BUFFERS
// @Param: TELEM_DELAY // @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay // @DisplayName: Telemetry startup delay

13
APMrover2/config.h
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@ -122,6 +122,19 @@
# define SERIAL2_BAUD 57600 # define SERIAL2_BAUD 57600
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// FrSky telemetry support
//
#ifndef FRSKY_TELEM_ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define FRSKY_TELEM_ENABLED DISABLED
#else
# define FRSKY_TELEM_ENABLED ENABLED
#endif
#endif
#ifndef CH7_OPTION #ifndef CH7_OPTION
# define CH7_OPTION CH7_SAVE_WP # define CH7_OPTION CH7_SAVE_WP
#endif #endif

6
APMrover2/defines.h
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@ -138,4 +138,10 @@ enum mode {
// mark a function as not to be inlined // mark a function as not to be inlined
#define NOINLINE __attribute__((noinline)) #define NOINLINE __attribute__((noinline))
enum Telem2Protocol {
SERIAL2_MAVLINK = 1,
SERIAL2_FRSKY_DPORT = 2,
SERIAL2_FRSKY_SPORT = 3 // not supported yet
};
#endif // _DEFINES_H #endif // _DEFINES_H

18
APMrover2/system.pde
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@ -138,7 +138,12 @@ static void init_ardupilot()
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, 128); gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, 128);
#if MAVLINK_COMM_NUM_BUFFERS > 2 #if MAVLINK_COMM_NUM_BUFFERS > 2
gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, 128); if (g.serial2_protocol == SERIAL2_FRSKY_DPORT ||
g.serial2_protocol == SERIAL2_FRSKY_SPORT) {
frsky_telemetry.init(hal.uartD, g.serial2_protocol);
} else {
gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, 128);
}
#endif #endif
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;
@ -511,3 +516,14 @@ static bool should_log(uint32_t mask)
} }
return ret; return ret;
} }
/*
send FrSky telemetry. Should be called at 5Hz by scheduler
*/
static void telemetry_send(void)
{
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.send_frames((uint8_t)control_mode,
(AP_Frsky_Telem::FrSkyProtocol)g.serial2_protocol.get());
#endif
}