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GCS_MAVLink: use SerialManager for setup_uart

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Randy Mackay 2015-01-19 22:33:31 +09:00 committed by Andrew Tridgell
parent 0fe4436c72
commit c6326fc9b7
2 changed files with 16 additions and 12 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -15,6 +15,7 @@
#include "../AP_BattMonitor/AP_BattMonitor.h" #include "../AP_BattMonitor/AP_BattMonitor.h"
#include <stdint.h> #include <stdint.h>
#include <MAVLink_routing.h> #include <MAVLink_routing.h>
#include <AP_SerialManager.h>
// GCS Message ID's // GCS Message ID's
/// NOTE: to ensure we never block on sending MAVLink messages /// NOTE: to ensure we never block on sending MAVLink messages
@ -67,7 +68,7 @@ public:
GCS_MAVLINK(); GCS_MAVLINK();
void update(void (*run_cli)(AP_HAL::UARTDriver *)); void update(void (*run_cli)(AP_HAL::UARTDriver *));
void init(AP_HAL::UARTDriver *port); void init(AP_HAL::UARTDriver *port);
void setup_uart(AP_HAL::UARTDriver *port, uint32_t baudrate, uint16_t rxS, uint16_t txS); void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol);
void send_message(enum ap_message id); void send_message(enum ap_message id);
void send_text(gcs_severity severity, const char *str); void send_text(gcs_severity severity, const char *str);
void send_text_P(gcs_severity severity, const prog_char_t *str); void send_text_P(gcs_severity severity, const prog_char_t *str);

25
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -59,9 +59,12 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
setup a UART, handling begin() and init() setup a UART, handling begin() and init()
*/ */
void void
GCS_MAVLINK::setup_uart(AP_HAL::UARTDriver *port, uint32_t baudrate, uint16_t rxS, uint16_t txS) GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol)
{ {
if (port == NULL) { // serach find serial port
AP_SerialManager::serial_state gcs_serial;
if (!serial_manager.find_serial(protocol, gcs_serial)) {
// return immediately if not found
return; return;
} }
@ -73,21 +76,21 @@ GCS_MAVLINK::setup_uart(AP_HAL::UARTDriver *port, uint32_t baudrate, uint16_t rx
0x20 at 115200 on startup, which tells the bootloader to reset 0x20 at 115200 on startup, which tells the bootloader to reset
and boot normally and boot normally
*/ */
port->begin(115200, rxS, txS); gcs_serial.uart->begin(115200);
AP_HAL::UARTDriver::flow_control old_flow_control = port->get_flow_control(); AP_HAL::UARTDriver::flow_control old_flow_control = gcs_serial.uart->get_flow_control();
port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); gcs_serial.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
for (uint8_t i=0; i<3; i++) { for (uint8_t i=0; i<3; i++) {
hal.scheduler->delay(1); hal.scheduler->delay(1);
port->write(0x30); gcs_serial.uart->write(0x30);
port->write(0x20); gcs_serial.uart->write(0x20);
} }
port->set_flow_control(old_flow_control); gcs_serial.uart->set_flow_control(old_flow_control);
// now change to desired baudrate // now change back to desired baudrate
port->begin(baudrate); gcs_serial.uart->begin(map_baudrate(gcs_serial.baud));
// and init the gcs instance // and init the gcs instance
init(port); init(gcs_serial.uart);
} }
uint16_t uint16_t