Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_PX4: enable ttyACM0 as main console, ttyS1 as telemetry port

Browse Source
This commit is contained in:
Andrew Tridgell 2013-02-18 13:55:33 +11:00
parent 727f8ff029
commit 8e2a20bea8
3 changed files with 29 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
View File

@ -43,13 +43,14 @@ static PX4RCOutput rcoutDriver;
static PX4AnalogIn analogIn;
static PX4Util utilInstance;
#define UARTA_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS1"
// only two real UART drivers for now
// 3 UART drivers, for GPS plus two mavlink-enabled devices
static PX4UARTDriver uartADriver(UARTA_DEFAULT_DEVICE, "APM_uartA");
static PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE, "APM_uartB");
static Empty::EmptyUARTDriver uartCDriver;
static PX4UARTDriver uartCDriver(UARTC_DEFAULT_DEVICE, "APM_uartC");
HAL_PX4::HAL_PX4() :
AP_HAL::HAL(
@ -108,7 +109,9 @@ static int main_loop(int argc, char **argv)
extern void loop(void);
hal.uartA->begin(57600);
hal.uartA->begin(115200);
hal.uartB->begin(38400);
hal.uartC->begin(57600);
hal.console->init((void*) hal.uartA);
hal.scheduler->init(NULL);
hal.rcin->init(NULL);
@ -187,7 +190,8 @@ static void usage(void)
{
printf("Usage: %s [options] {start,stop,status}\n", SKETCHNAME);
printf("Options:\n");
printf("\t-d DEVICE set terminal device (default %s)\n", UARTA_DEFAULT_DEVICE);
printf("\t-d DEVICE set terminal device (default %s)\n", UARTA_DEFAULT_DEVICE);
printf("\t-d2 DEVICE set second terminal device (default %s)\n", UARTC_DEFAULT_DEVICE);
printf("\n");
}
@ -195,7 +199,8 @@ static void usage(void)
void HAL_PX4::init(int argc, char * const argv[]) const
{
int i;
const char *device = UARTA_DEFAULT_DEVICE;
const char *deviceA = UARTA_DEFAULT_DEVICE;
const char *deviceC = UARTC_DEFAULT_DEVICE;
if (argc < 1) {
printf("%s: missing command (try '%s start')",
@ -212,8 +217,10 @@ void HAL_PX4::init(int argc, char * const argv[]) const
exit(0);
}
uartADriver.set_device_path(device);
printf("Starting %s on %s\n", SKETCHNAME, device);
uartADriver.set_device_path(deviceA);
uartCDriver.set_device_path(deviceC);
printf("Starting %s on %s and %s\n",
SKETCHNAME, deviceA, deviceC);
_px4_thread_should_exit = false;
daemon_task = task_spawn(SKETCHNAME,
@ -244,13 +251,24 @@ void HAL_PX4::init(int argc, char * const argv[]) const
if (strcmp(argv[i], "-d") == 0) {
// set terminal device
if (argc > i + 1) {
device = strdup(argv[i+1]);
deviceA = strdup(argv[i+1]);
} else {
printf("missing parameter to -d DEVICE\n");
usage();
exit(1);
}
}
if (strcmp(argv[i], "-d2") == 0) {
// set uartC terminal device
if (argc > i + 1) {
deviceC = strdup(argv[i+1]);
} else {
printf("missing parameter to -d2 DEVICE\n");
usage();
exit(1);
}
}
}
usage();

1
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -210,6 +210,7 @@ void *PX4Scheduler::_io_thread(void)
// process any pending serial bytes
((PX4UARTDriver *)hal.uartA)->_timer_tick();
((PX4UARTDriver *)hal.uartB)->_timer_tick();
((PX4UARTDriver *)hal.uartC)->_timer_tick();
// process any pending storage writes
((PX4Storage *)hal.storage)->_timer_tick();

2
libraries/AP_HAL_PX4/Util.cpp
View File

@ -82,7 +82,7 @@ bool PX4Util::run_debug_shell(AP_HAL::BetterStream *stream)
dup2(fd, 1);
dup2(fd, 2);
nsh_consolemain(0, NULL, false);
nsh_consolemain(0, NULL);
// this shouldn't happen
hal.console->printf("shell exited\n");