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Copter: fixed baud rates on APM1

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Andrew Tridgell 2013-09-21 09:21:17 +10:00
parent 7e589017b3
commit faddef69e6
1 changed files with 12 additions and 8 deletions
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20
ArduCopter/system.pde
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@ -75,8 +75,7 @@ static void run_cli(AP_HAL::UARTDriver *port)
static void init_ardupilot() static void init_ardupilot()
{ {
ap_system.usb_connected = hal.gpio->usb_connected(); if (!hal.gpio->usb_connected()) {
if (!ap_system.usb_connected) {
// USB is not connected, this means UART0 may be a Xbee, with // USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at // its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for // least one second after powering up. Simplest solution for
@ -136,12 +135,10 @@ static void init_ardupilot()
// hal.scheduler->delay. // hal.scheduler->delay.
hal.scheduler->register_delay_callback(mavlink_delay_cb, 5); hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
ap_system.usb_connected = hal.gpio->usb_connected(); // we start by assuming USB connected, as we initialed the serial
if (!ap_system.usb_connected) { // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
// we are not connected via USB, re-init UART0 with right ap_system.usb_connected = true;
// baud rate check_usb_mux();
hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
}
#if CONFIG_HAL_BOARD != HAL_BOARD_APM2 #if CONFIG_HAL_BOARD != HAL_BOARD_APM2
// we have a 2nd serial port for telemetry on all boards except // we have a 2nd serial port for telemetry on all boards except
@ -552,11 +549,18 @@ static void check_usb_mux(void)
// the user has switched to/from the telemetry port // the user has switched to/from the telemetry port
ap_system.usb_connected = usb_check; ap_system.usb_connected = usb_check;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
// the APM2 has a MUX setup where the first serial port switches
// between USB and a TTL serial connection. When on USB we use
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
// at SERIAL3_BAUD.
if (ap_system.usb_connected) { if (ap_system.usb_connected) {
hal.uartA->begin(SERIAL0_BAUD); hal.uartA->begin(SERIAL0_BAUD);
} else { } else {
hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD)); hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
} }
#endif
} }
/* /*