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Rover: changed SERIAL3_BAUD to SERIAL1_BAUD 

and add SERIAL2_BAUD for systems that have it
This commit is contained in:
Andrew Tridgell 2013-11-26 10:21:30 +11:00
parent a05a32dbda
commit fe0e627304
5 changed files with 33 additions and 15 deletions
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2
APMrover2/GCS_Mavlink.pde
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@ -1904,7 +1904,7 @@ GCS_MAVLINK::queued_param_send()
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
bytes_allowed = g.serial3_baud * (tnow - _queued_parameter_send_time_ms) * 26;
bytes_allowed = g.serial1_baud * (tnow - _queued_parameter_send_time_ms) * 26;
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}

8
APMrover2/Parameters.h
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@ -48,10 +48,11 @@ public:
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud,
k_param_serial3_baud,
k_param_serial1_baud,
k_param_telem_delay,
k_param_skip_gyro_cal,
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud,
//
// 130: Sensor parameters
@ -186,7 +187,10 @@ public:
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial0_baud;
AP_Int8 serial3_baud;
AP_Int8 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int8 serial2_baud;
#endif
AP_Int8 telem_delay;
AP_Int8 skip_gyro_cal;

19
APMrover2/Parameters.pde
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@ -56,17 +56,26 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: SERIAL0_BAUD
// @DisplayName: USB Console Baud Rate
// @Description: The baud rate used on the first serial port
// @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),
GSCALAR(serial0_baud, "SERIAL0_BAUD", 115),
// @Param: SERIAL3_BAUD
// @Param: SERIAL1_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the telemetry port
// @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(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
GSCALAR(serial1_baud, "SERIAL1_BAUD", 57),
#if MAVLINK_COMM_NUM_BUFFERS > 2
// @Param: SERIAL2_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the second telemetry port (where available)
// @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", 57),
#endif
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay

7
APMrover2/config.h
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@ -132,8 +132,11 @@
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL3_BAUD
# define SERIAL3_BAUD 57600
#ifndef SERIAL1_BAUD
# define SERIAL1_BAUD 57600
#endif
#ifndef SERIAL2_BAUD
# define SERIAL2_BAUD 57600
#endif
#ifndef CH7_OPTION

12
APMrover2/system.pde
View File

@ -126,14 +126,16 @@ static void init_ardupilot()
check_usb_mux();
// we have a 2nd serial port for telemetry
hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128);
gcs[1].init(hal.uartC);
#if MAVLINK_COMM_NUM_BUFFERS > 2
// we may have a 3rd serial port for telemetry
if (hal.uartD != NULL) {
hal.uartD->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128);
gcs[2].init(hal.uartD);
}
#endif
mavlink_system.sysid = g.sysid_this_mav;
@ -414,7 +416,7 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
case 111: return 111100;
case 115: return 115200;
}
cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
cliSerial->println_P(PSTR("Invalid baudrate"));
return default_baud;
}
@ -433,11 +435,11 @@ static void check_usb_mux(void)
// 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.
// at SERIAL1_BAUD.
if (usb_connected) {
hal.uartA->begin(SERIAL0_BAUD);
} else {
hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
hal.uartA->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD));
}
#endif
}