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Frsky_Telem: use SerialManager for init

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This commit is contained in:
Randy Mackay 2015-01-19 22:37:01 +09:00 committed by Andrew Tridgell
parent ebf5f98dbd
commit d16f787bd0
2 changed files with 25 additions and 14 deletions
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29
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -23,15 +23,21 @@
#include <AP_Frsky_Telem.h>
extern const AP_HAL::HAL& hal;
void AP_Frsky_Telem::init(AP_HAL::UARTDriver *port, enum FrSkyProtocol protocol)
void AP_Frsky_Telem::init(const AP_SerialManager& serial_manager)
{
if (port == NULL) {
return;
// initialise port to null
_port = NULL;
// check for FRSky_DPort
AP_SerialManager::serial_state frsky_serial;
if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_DPort, frsky_serial)) {
_port = frsky_serial.uart;
_protocol = FrSkyDPORT;
}
_port = port;
_protocol = protocol;
if (_protocol == FrSkySPORT) {
_port->begin(57600);
// check for FRSky_SPort
if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_SPort, frsky_serial)) {
_port = frsky_serial.uart;
_protocol = FrSkySPORT;
_gps_call = 0;
_fas_call = 0;
_vario_call = 0 ;
@ -43,10 +49,10 @@ void AP_Frsky_Telem::init(AP_HAL::UARTDriver *port, enum FrSkyProtocol protocol)
_sats_data_ready = false;
_sport_status = 0;
hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&AP_Frsky_Telem::sport_tick));
} else {
// if this is D-port then spec says 9600 baud
_port->begin(9600);
_initialised = true;
}
// initialise port ignoring serial ports baud rate parameter
if (_port != NULL) {
_initialised = true;
}
}
@ -459,6 +465,7 @@ void AP_Frsky_Telem::send_hub_frame()
*/
void AP_Frsky_Telem::send_frames(uint8_t control_mode)
{
// return immediately if not initialised
if (!_initialised) {
return;
}

10
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -24,6 +24,7 @@
#include <AP_AHRS.h>
#include <AP_Baro.h>
#include <AP_BattMonitor.h>
#include <AP_SerialManager.h>
/* FrSky sensor hub data IDs */
#define FRSKY_ID_GPS_ALT_BP 0x01
@ -77,18 +78,21 @@ class AP_Frsky_Telem
public:
//constructor
AP_Frsky_Telem(AP_AHRS &ahrs, AP_BattMonitor &battery) :
_port(NULL),
_protocol(FrSkyUnknown),
_initialised(false),
_ahrs(ahrs),
_battery(battery)
_ahrs(ahrs),
_battery(battery)
{}
// these enums must match up with TELEM2_PROTOCOL in vehicle code
enum FrSkyProtocol {
FrSkyUnknown = 0,
FrSkyDPORT = 2,
FrSkySPORT = 3
};
void init(AP_HAL::UARTDriver *port, enum FrSkyProtocol protocol);
void init(const AP_SerialManager& serial_manager);
void send_frames(uint8_t control_mode);