69 lines
1.6 KiB
Plaintext
69 lines
1.6 KiB
Plaintext
// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
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//
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// Example code for the AP_HAL AVRUARTDriver, based on FastSerial
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//
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// This code is placed into the public domain.
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//
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#include <AP_Common.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <GCS_MAVLink.h>
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#include <GCS_Console.h>
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#include "simplegcs.h"
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
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void flush_console_to_statustext() {
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uint8_t data[50];
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int n = hal.console->backend_read(data, 50);
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if (n > 0) {
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try_send_statustext(MAVLINK_COMM_0, (char*) data, n);
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}
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}
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void console_loopback() {
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int a = hal.console->available();
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if (a > 0) {
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hal.console->print("Console loopback:");
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int r = hal.console->read();
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while (r > 0) {
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hal.console->write( (uint8_t) r );
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r = hal.console->read();
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}
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hal.console->println();
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}
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}
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void setup(void) {
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/* Allocate large enough buffers on uart0 to support mavlink */
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hal.uart0->begin(115200, 128, 256);
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/* Setup GCS_Mavlink library's comm 0 port. */
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mavlink_comm_0_port = hal.uart0;
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char hello[] = "Hello statustext\r\n";
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try_send_statustext(MAVLINK_COMM_0, hello, strlen(hello));
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hal.console->backend_open();
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hal.console->printf_P(PSTR("Hello hal.console\r\n"));
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}
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int i = 0;
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void loop(void) {
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try_send_message(MAVLINK_COMM_0, MAVLINK_MSG_ID_HEARTBEAT);
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simplegcs_update(MAVLINK_COMM_0);
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// flush_console_to_statustext();
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gcs_console_send(MAVLINK_COMM_0);
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console_loopback();
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hal.scheduler->delay(100);
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}
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AP_HAL_MAIN();
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