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HAL_PX4: support uartE for 2nd GPS

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This commit is contained in:
Andrew Tridgell 2013-12-21 22:25:15 +11:00
parent 95dd252f29
commit bf2dd141e9
3 changed files with 31 additions and 2 deletions
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1
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -33,6 +33,7 @@ HAL_Linux::HAL_Linux() :
&uartBDriver, &uartBDriver,
&uartCDriver, &uartCDriver,
NULL, /* no uartD */ NULL, /* no uartD */
NULL, /* no uartE */
&i2cDriver, &i2cDriver,
&spiDeviceManager, &spiDeviceManager,
&analogIn, &analogIn,

31
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
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@ -43,16 +43,26 @@ static PX4AnalogIn analogIn;
static PX4Util utilInstance; static PX4Util utilInstance;
static PX4GPIO gpioDriver; static PX4GPIO gpioDriver;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0" #define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS3" #define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS1" #define UARTC_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTD_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTE_DEFAULT_DEVICE "/dev/ttyS5"
#else
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null" #define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#endif
// 3 UART drivers, for GPS plus two mavlink-enabled devices // 3 UART drivers, for GPS plus two mavlink-enabled devices
static PX4UARTDriver uartADriver(UARTA_DEFAULT_DEVICE, "APM_uartA"); static PX4UARTDriver uartADriver(UARTA_DEFAULT_DEVICE, "APM_uartA");
static PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE, "APM_uartB"); static PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE, "APM_uartB");
static PX4UARTDriver uartCDriver(UARTC_DEFAULT_DEVICE, "APM_uartC"); static PX4UARTDriver uartCDriver(UARTC_DEFAULT_DEVICE, "APM_uartC");
static PX4UARTDriver uartDDriver(UARTD_DEFAULT_DEVICE, "APM_uartD"); static PX4UARTDriver uartDDriver(UARTD_DEFAULT_DEVICE, "APM_uartD");
static PX4UARTDriver uartEDriver(UARTE_DEFAULT_DEVICE, "APM_uartE");
HAL_PX4::HAL_PX4() : HAL_PX4::HAL_PX4() :
AP_HAL::HAL( AP_HAL::HAL(
@ -60,6 +70,7 @@ HAL_PX4::HAL_PX4() :
&uartBDriver, /* uartB */ &uartBDriver, /* uartB */
&uartCDriver, /* uartC */ &uartCDriver, /* uartC */
&uartDDriver, /* uartD */ &uartDDriver, /* uartD */
&uartEDriver, /* uartE */
&i2cDriver, /* i2c */ &i2cDriver, /* i2c */
&spiDeviceManager, /* spi */ &spiDeviceManager, /* spi */
&analogIn, /* analogin */ &analogIn, /* analogin */
@ -111,6 +122,7 @@ static int main_loop(int argc, char **argv)
hal.uartB->begin(38400); hal.uartB->begin(38400);
hal.uartC->begin(57600); hal.uartC->begin(57600);
hal.uartD->begin(57600); hal.uartD->begin(57600);
hal.uartE->begin(57600);
hal.scheduler->init(NULL); hal.scheduler->init(NULL);
hal.rcin->init(NULL); hal.rcin->init(NULL);
hal.rcout->init(NULL); hal.rcout->init(NULL);
@ -182,6 +194,8 @@ static void usage(void)
printf("Options:\n"); 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("\t-d2 DEVICE set second terminal device (default %s)\n", UARTC_DEFAULT_DEVICE);
printf("\t-d3 DEVICE set 3rd terminal device (default %s)\n", UARTD_DEFAULT_DEVICE);
printf("\t-d4 DEVICE set 2nd GPS device (default %s)\n", UARTE_DEFAULT_DEVICE);
printf("\n"); printf("\n");
} }
@ -192,6 +206,7 @@ void HAL_PX4::init(int argc, char * const argv[]) const
const char *deviceA = UARTA_DEFAULT_DEVICE; const char *deviceA = UARTA_DEFAULT_DEVICE;
const char *deviceC = UARTC_DEFAULT_DEVICE; const char *deviceC = UARTC_DEFAULT_DEVICE;
const char *deviceD = UARTD_DEFAULT_DEVICE; const char *deviceD = UARTD_DEFAULT_DEVICE;
const char *deviceE = UARTE_DEFAULT_DEVICE;
if (argc < 1) { if (argc < 1) {
printf("%s: missing command (try '%s start')", printf("%s: missing command (try '%s start')",
@ -211,8 +226,9 @@ void HAL_PX4::init(int argc, char * const argv[]) const
uartADriver.set_device_path(deviceA); uartADriver.set_device_path(deviceA);
uartCDriver.set_device_path(deviceC); uartCDriver.set_device_path(deviceC);
uartDDriver.set_device_path(deviceD); uartDDriver.set_device_path(deviceD);
printf("Starting %s uartA=%s uartC=%s uartD=%s\n", uartEDriver.set_device_path(deviceE);
SKETCHNAME, deviceA, deviceC, deviceD); printf("Starting %s uartA=%s uartC=%s uartD=%s uartE=%s\n",
SKETCHNAME, deviceA, deviceC, deviceD, deviceE);
_px4_thread_should_exit = false; _px4_thread_should_exit = false;
daemon_task = task_spawn_cmd(SKETCHNAME, daemon_task = task_spawn_cmd(SKETCHNAME,
@ -272,6 +288,17 @@ void HAL_PX4::init(int argc, char * const argv[]) const
exit(1); exit(1);
} }
} }
if (strcmp(argv[i], "-d4") == 0) {
// set uartE 2nd GPS device
if (argc > i + 1) {
deviceE = strdup(argv[i+1]);
} else {
printf("missing parameter to -d4 DEVICE\n");
usage();
exit(1);
}
}
} }
usage(); usage();

1
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -283,6 +283,7 @@ void *PX4Scheduler::_uart_thread(void)
((PX4UARTDriver *)hal.uartB)->_timer_tick(); ((PX4UARTDriver *)hal.uartB)->_timer_tick();
((PX4UARTDriver *)hal.uartC)->_timer_tick(); ((PX4UARTDriver *)hal.uartC)->_timer_tick();
((PX4UARTDriver *)hal.uartD)->_timer_tick(); ((PX4UARTDriver *)hal.uartD)->_timer_tick();
((PX4UARTDriver *)hal.uartE)->_timer_tick();
} }
return NULL; return NULL;
} }