Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: integrate SerialManager

This commit is contained in:
Randy Mackay 2015-01-28 13:56:36 +09:00 committed by Andrew Tridgell
parent e0cfe091fb
commit 9f7f1e62df
6 changed files with 45 additions and 118 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
APMrover2/APMrover2.pde
View File

@ -88,6 +88,7 @@
#include <AP_Mount.h> // Camera/Antenna mount
#include <AP_Camera.h> // Camera triggering
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_SerialManager.h> // Serial manager library
#include <AP_Airspeed.h> // needed for AHRS build
#include <AP_Vehicle.h> // needed for AHRS build
#include <DataFlash.h>
@ -256,7 +257,7 @@ SITL sitl;
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
//
static AP_SerialManager serial_manager;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];

15
APMrover2/Parameters.h
View File

@ -51,9 +51,9 @@ public:
// misc2
k_param_log_bitmask = 40,
k_param_gps,
k_param_serial0_baud,
k_param_serial1_baud,
k_param_serial2_baud,
k_param_serial0_baud, // deprecated, can be deleted
k_param_serial1_baud, // deprecated, can be deleted
k_param_serial2_baud, // deprecated, can be deleted
// 110: Telemetry control
@ -68,7 +68,8 @@ public:
k_param_skip_gyro_cal,
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old,
k_param_serial2_protocol,
k_param_serial2_protocol, // deprecated, can be deleted
k_param_serial_manager, // serial manager library
//
// 130: Sensor parameters
@ -210,12 +211,6 @@ public:
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int16 serial0_baud;
AP_Int16 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int16 serial2_baud;
AP_Int8 serial2_protocol;
#endif
AP_Int8 telem_delay;
AP_Int8 skip_gyro_cal;

41
APMrover2/Parameters.pde
View File

@ -56,40 +56,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL0_BAUD
// @DisplayName: USB Console Baud Rate
// @Description: The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
// @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
GSCALAR(serial0_baud, "SERIAL0_BAUD", SERIAL0_BAUD/1000),
// @Param: SERIAL1_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
// @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
GSCALAR(serial1_baud, "SERIAL1_BAUD", SERIAL1_BAUD/1000),
#if MAVLINK_COMM_NUM_BUFFERS > 2
// @Param: SERIAL2_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the second telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
// @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
GSCALAR(serial2_baud, "SERIAL2_BAUD", SERIAL2_BAUD/1000),
#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,3:Frsky S-PORT
// @User: Standard
GSCALAR(serial2_protocol, "SERIAL2_PROTOCOL", SERIAL2_MAVLINK),
#endif // FRSKY_TELEM_ENABLED
#endif // MAVLINK_COMM_NUM_BUFFERS
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
@ -489,6 +455,10 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECTN(gcs[2], gcs2, "SR2_", GCS_MAVLINK),
#endif
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
// @Group: NAVL1_
// @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
GOBJECT(L1_controller, "NAVL1_", AP_L1_Control),
@ -569,6 +539,9 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
{ Parameters::k_param_volt_div_ratio, 0, AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
{ Parameters::k_param_curr_amp_per_volt, 0, AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
{ Parameters::k_param_pack_capacity, 0, AP_PARAM_INT32, "BATT_CAPACITY" },
{ Parameters::k_param_serial0_baud, 0, AP_PARAM_INT16, "SERIAL0_BAUD" },
{ Parameters::k_param_serial1_baud, 0, AP_PARAM_INT16, "SERIAL1_BAUD" },
{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },
};
static void load_parameters(void)

16
APMrover2/config.h
View File

@ -54,10 +54,6 @@
#define CONFIG_BARO HAL_BARO_DEFAULT
#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
#ifdef HAL_SERIAL0_BAUD_DEFAULT
# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
@ -106,18 +102,6 @@
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL1_BAUD
# define SERIAL1_BAUD 57600
#endif
#ifndef SERIAL2_BAUD
# define SERIAL2_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// FrSky telemetry support

6
APMrover2/defines.h
View File

@ -126,10 +126,4 @@ enum mode {
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
enum Serial2Protocol {
SERIAL2_MAVLINK = 1,
SERIAL2_FRSKY_DPORT = 2,
SERIAL2_FRSKY_SPORT = 3 // not supported yet
};
#endif // _DEFINES_H

82
APMrover2/system.pde
View File

@ -71,34 +71,8 @@ static void run_cli(AP_HAL::UARTDriver *port)
static void init_ardupilot()
{
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the console's use as a logging device, optionally as the GPS port when
// GPS_PROTOCOL_IMU is selected, and as the telemetry port.
//
// XXX This could be optimised to reduce the buffer sizes in the cases
// where they are not otherwise required.
//
hal.uartA->begin(SERIAL0_BAUD, 128, 128);
// GPS serial port.
//
// XXX currently the EM406 (SiRF receiver) is nominally configured
// at 57600, however it's not been supported to date. We should
// probably standardise on 38400.
//
// XXX the 128 byte receive buffer may be too small for NMEA, depending
// on the message set configured.
//
// standard gps running
hal.uartB->begin(38400, 256, 16);
#if GPS2_ENABLE
if (hal.uartE != NULL) {
hal.uartE->begin(38400, 256, 16);
}
#endif
// initialise console serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
@ -112,13 +86,13 @@ static void init_ardupilot()
BoardConfig.init();
// initialise serial ports
serial_manager.init();
ServoRelayEvents.set_channel_mask(0xFFF0);
set_control_channels();
// after parameter load setup correct baud rate on uartA
hal.uartA->begin(map_baudrate(g.serial0_baud));
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
@ -127,23 +101,24 @@ static void init_ardupilot()
barometer.init();
// init the GCS
gcs[0].init(hal.uartA);
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// we have a 2nd serial port for telemetry
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, 128);
// setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
#if MAVLINK_COMM_NUM_BUFFERS > 2
if (g.serial2_protocol == SERIAL2_FRSKY_DPORT ||
g.serial2_protocol == SERIAL2_FRSKY_SPORT) {
frsky_telemetry.init(hal.uartD, (AP_Frsky_Telem::FrSkyProtocol)g.serial2_protocol.get());
} else {
gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, 128);
}
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2);
#endif
// setup frsky telemetry
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.init(serial_manager);
#endif
mavlink_system.sysid = g.sysid_this_mav;
@ -187,7 +162,7 @@ static void init_ardupilot()
init_barometer();
// Do GPS init
gps.init(&DataFlash);
gps.init(&DataFlash, serial_manager);
rc_override_active = hal.rcin->set_overrides(rc_override, 8);
@ -196,8 +171,10 @@ static void init_ardupilot()
relay.init();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init();
camera_mount.init(serial_manager);
#endif
/*
setup the 'main loop is dead' check. Note that this relies on
@ -205,6 +182,8 @@ static void init_ardupilot()
*/
hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
#if CLI_ENABLED == ENABLED
// If the switch is in 'menu' mode, run the main menu.
//
// Since we can't be sure that the setup or test mode won't leave
@ -213,12 +192,13 @@ static void init_ardupilot()
//
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
cliSerial->println_P(msg);
if (gcs[1].initialised) {
hal.uartC->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println_P(msg);
}
if (num_gcs > 2 && gcs[2].initialised) {
hal.uartD->println_P(msg);
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println_P(msg);
}
#endif
startup_ground();
@ -260,9 +240,9 @@ static void startup_ground(void)
// initialise mission library
mission.init();
hal.uartA->set_blocking_writes(false);
hal.uartB->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
// we don't want writes to the serial port to cause us to pause
// so set serial ports non-blocking once we are ready to drive
serial_manager.set_blocking_writes_all(false);
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to drive."));
}
@ -447,9 +427,9 @@ static void check_usb_mux(void)
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
// at SERIAL1_BAUD.
if (usb_connected) {
hal.uartA->begin(SERIAL0_BAUD);
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console);
} else {
hal.uartA->begin(map_baudrate(g.serial1_baud));
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1);
}
#endif
}