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Tracker: integrate SerialManager

This commit is contained in:
Randy Mackay 2015-01-28 14:27:03 +09:00 committed by Andrew Tridgell
parent 9f7f1e62df
commit c7fb252fbb
5 changed files with 29 additions and 75 deletions
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2
AntennaTracker/AntennaTracker.pde
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@ -46,6 +46,7 @@
#include <memcheck.h>
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_SerialManager.h> // Serial manager library
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <DataFlash.h>
#include <SITL.h>
@ -159,6 +160,7 @@ static RC_Channel channel_pitch(CH_PITCH);
////////////////////////////////////////////////////////////////////////////////
// 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];

19
AntennaTracker/Parameters.h
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@ -55,8 +55,8 @@ public:
k_param_gcs1, // stream rates for uartC
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud,
k_param_serial1_baud,
k_param_serial0_baud, // deprecated
k_param_serial1_baud, // deprecated
k_param_imu,
k_param_compass_enabled,
k_param_compass,
@ -68,7 +68,7 @@ public:
k_param_pidPitch2Srv,
k_param_pidYaw2Srv,
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud,
k_param_serial2_baud, // deprecated
k_param_yaw_slew_time,
k_param_pitch_slew_time,
@ -91,6 +91,14 @@ public:
k_param_yaw_range,
k_param_pitch_range, // 136
//
// 150: Telemetry control
//
k_param_serial_manager, // serial manager library
//
// 200 : Radio settings
//
k_param_channel_yaw = 200,
k_param_channel_pitch,
@ -109,11 +117,6 @@ public:
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial0_baud;
AP_Int8 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int8 serial2_baud;
#endif
AP_Int8 compass_enabled;

27
AntennaTracker/Parameters.pde
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@ -29,29 +29,6 @@ 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
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @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
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @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
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial2_baud, "SERIAL2_BAUD", SERIAL2_BAUD/1000),
#endif
// @Param: MAG_ENABLE
// @DisplayName: Enable Compass
// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
@ -262,6 +239,10 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GOBJECT(channel_pitch, "RC2_", RC_Channel),
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
GGROUP(pidPitch2Srv, "PITCH2SRV_", PID),
GGROUP(pidYaw2Srv, "YAW2SRV_", PID),

28
AntennaTracker/config.h
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@ -20,39 +20,11 @@
#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
#ifndef MAV_SYSTEM_ID
// use 2 for antenna tracker by default
# define MAV_SYSTEM_ID 2
#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
#ifndef SERIAL_BUFSIZE
# define SERIAL_BUFSIZE 512
#endif
#ifndef SERIAL1_BUFSIZE
# define SERIAL1_BUFSIZE 256
#endif
#ifndef SERIAL2_BUFSIZE
# define SERIAL2_BUFSIZE 256
#endif
//////////////////////////////////////////////////////////////////////////////
// RC Channel definitions

28
AntennaTracker/system.pde
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@ -5,10 +5,8 @@ static const StorageAccess wp_storage(StorageManager::StorageMission);
static void init_tracker()
{
hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
// gps port
hal.uartB->begin(38400, 256, 16);
// initialise console serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n"),
@ -19,14 +17,14 @@ static void init_tracker()
BoardConfig.init();
// reset the uartA baud rate after parameter load
hal.uartA->begin(map_baudrate(g.serial0_baud));
// initialise serial ports
serial_manager.init();
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// init the GCS
gcs[0].init(hal.uartA);
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
// set up snooping on other mavlink destinations
gcs[0].set_snoop(mavlink_snoop);
@ -40,9 +38,8 @@ static void init_tracker()
usb_connected = true;
check_usb_mux();
// we have a 2nd serial port for telemetry
hal.uartC->begin(map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
// setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
mavlink_system.sysid = g.sysid_this_mav;
@ -56,7 +53,7 @@ static void init_tracker()
}
// GPS Initialization
gps.init(NULL);
gps.init(NULL, serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
@ -66,9 +63,8 @@ static void init_tracker()
init_barometer();
hal.uartA->set_blocking_writes(false);
hal.uartB->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
@ -233,9 +229,9 @@ 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
}