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GCS_MAVLink: add support for 4th mavlink chan on PX4

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This commit is contained in:
Randy Mackay 2015-05-02 21:38:07 +09:00
parent 11a4b757f9
commit 62e7e8cc7d
3 changed files with 50 additions and 2 deletions
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16
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -51,6 +51,12 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
mavlink_comm_2_port = _port;
initialised = true;
break;
#endif
case MAVLINK_COMM_3:
#if MAVLINK_COMM_NUM_BUFFERS > 3
mavlink_comm_3_port = _port;
initialised = true;
break;
#endif
default:
// do nothing for unsupport mavlink channels
@ -441,6 +447,16 @@ bool GCS_MAVLINK::have_flow_control(void)
break;
#endif
case MAVLINK_COMM_3:
#if MAVLINK_COMM_NUM_BUFFERS > 3
if (mavlink_comm_3_port == NULL) {
return false;
} else {
return mavlink_comm_3_port->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
}
break;
#endif
default:
break;
}

23
libraries/GCS_MAVLink/GCS_MAVLink.cpp
View File

@ -36,6 +36,9 @@ AP_HAL::UARTDriver *mavlink_comm_1_port;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_HAL::UARTDriver *mavlink_comm_2_port;
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
AP_HAL::UARTDriver *mavlink_comm_3_port;
#endif
mavlink_system_t mavlink_system = {7,1};
@ -100,6 +103,11 @@ uint8_t comm_receive_ch(mavlink_channel_t chan)
case MAVLINK_COMM_2:
data = mavlink_comm_2_port->read();
break;
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
case MAVLINK_COMM_3:
data = mavlink_comm_3_port->read();
break;
#endif
default:
break;
@ -128,6 +136,11 @@ uint16_t comm_get_txspace(mavlink_channel_t chan)
case MAVLINK_COMM_2:
ret = mavlink_comm_2_port->txspace();
break;
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
case MAVLINK_COMM_3:
ret = mavlink_comm_3_port->txspace();
break;
#endif
default:
break;
@ -159,6 +172,11 @@ uint16_t comm_get_available(mavlink_channel_t chan)
case MAVLINK_COMM_2:
bytes = mavlink_comm_2_port->available();
break;
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
case MAVLINK_COMM_3:
bytes = mavlink_comm_3_port->available();
break;
#endif
default:
break;
@ -185,6 +203,11 @@ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
case MAVLINK_COMM_2:
mavlink_comm_2_port->write(buf, len);
break;
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
case MAVLINK_COMM_3:
mavlink_comm_3_port->write(buf, len);
break;
#endif
default:
break;

13
libraries/GCS_MAVLink/GCS_MAVLink.h
View File

@ -26,8 +26,8 @@
// only two telemetry ports on APM1/APM2
#define MAVLINK_COMM_NUM_BUFFERS 2
#else
// allow three telemetry ports on other boards
#define MAVLINK_COMM_NUM_BUFFERS 3
// allow four telemetry ports on other boards
#define MAVLINK_COMM_NUM_BUFFERS 4
#endif
/*
@ -61,6 +61,10 @@ extern AP_HAL::UARTDriver *mavlink_comm_1_port;
extern AP_HAL::UARTDriver *mavlink_comm_2_port;
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
extern AP_HAL::UARTDriver *mavlink_comm_3_port;
#endif
/// MAVLink system definition
extern mavlink_system_t mavlink_system;
@ -82,6 +86,11 @@ static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
case MAVLINK_COMM_2:
mavlink_comm_2_port->write(ch);
break;
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
case MAVLINK_COMM_3:
mavlink_comm_3_port->write(ch);
break;
#endif
default:
break;