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GCS_MAVLink: mavlink_channel from SerialManager

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This commit is contained in:
Randy Mackay 2015-01-23 22:45:14 +09:00 committed by Andrew Tridgell
parent c6326fc9b7
commit febda988af
2 changed files with 29 additions and 16 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -67,7 +67,7 @@ class GCS_MAVLINK
public:
GCS_MAVLINK();
void update(void (*run_cli)(AP_HAL::UARTDriver *));
void init(AP_HAL::UARTDriver *port);
void init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan);
void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol);
void send_message(enum ap_message id);
void send_text(gcs_severity severity, const char *str);

43
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -32,23 +32,29 @@ GCS_MAVLINK::GCS_MAVLINK() :
}
void
GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
{
_port = port;
if (port == (AP_HAL::BetterStream*)hal.uartA) {
mavlink_comm_0_port = port;
chan = MAVLINK_COMM_0;
initialised = true;
} else if (port == (AP_HAL::BetterStream*)hal.uartC) {
mavlink_comm_1_port = port;
chan = MAVLINK_COMM_1;
initialised = true;
chan = mav_chan;
switch (chan) {
case MAVLINK_COMM_0:
mavlink_comm_0_port = _port;
initialised = true;
break;
case MAVLINK_COMM_1:
mavlink_comm_1_port = _port;
initialised = true;
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
} else if (port == (AP_HAL::BetterStream*)hal.uartD) {
mavlink_comm_2_port = port;
chan = MAVLINK_COMM_2;
initialised = true;
case MAVLINK_COMM_2:
mavlink_comm_2_port = _port;
initialised = true;
break;
#endif
default:
// do nothing for unsupport mavlink channels
break;
}
_queued_parameter = NULL;
reset_cli_timeout();
@ -61,13 +67,20 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
void
GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol)
{
// serach find serial port
// search for serial port
AP_SerialManager::serial_state gcs_serial;
if (!serial_manager.find_serial(protocol, gcs_serial)) {
// return immediately if not found
return;
}
// get associated mavlink channel
mavlink_channel_t mav_chan;
if (!serial_manager.get_mavlink_channel(protocol, mav_chan)) {
// return immediately in unlikely case mavlink channel cannot be found
return;
}
/*
Now try to cope with SiK radios that may be stuck in bootloader
mode because CTS was held while powering on. This tells the
@ -90,7 +103,7 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
gcs_serial.uart->begin(map_baudrate(gcs_serial.baud));
// and init the gcs instance
init(gcs_serial.uart);
init(gcs_serial.uart, mav_chan);
}
uint16_t