@ -70,12 +70,8 @@ static void run_cli(AP_HAL::UARTDriver *port)
@@ -70,12 +70,8 @@ static void run_cli(AP_HAL::UARTDriver *port)
static void init_ardupilot()
{
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the MAVLink protocol efficiently
//
hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
// initialise serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
@ -95,14 +91,14 @@ static void init_ardupilot()
@@ -95,14 +91,14 @@ static void init_ardupilot()
BoardConfig.init();
// initialise serial ports
serial_manager.init();
// allow servo set on all channels except first 4
ServoRelayEvents.set_channel_mask(0xFFF0);
set_control_channels();
// reset the uartA baud rate after parameter load
hal.uartA->begin(map_baudrate(g.serial0_baud));
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
@ -117,23 +113,24 @@ static void init_ardupilot()
@@ -117,23 +113,24 @@ static void init_ardupilot()
battery.init();
// init the GCS
gcs[0].init(hal.uartA );
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console );
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// we have a 2nd serial port for telemetry
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE );
// setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1 );
#if MAVLINK_COMM_NUM_BUFFERS > 2
if (g.serial2_protocol == SERIAL2_FRSKY_DPORT ||
g.serial2_protocol == SERIAL2_FRSKY_SPORT) {
frsky_telemetry.init(hal.uartD, (AP_Frsky_Telem::FrSkyProtocol)g.serial2_protocol.get());
} else {
gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, SERIAL2_BUFSIZE);
}
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2);
#endif
// setup frsky
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.init(serial_manager);
#endif
mavlink_system.sysid = g.sysid_this_mav;
@ -179,7 +176,7 @@ static void init_ardupilot()
@@ -179,7 +176,7 @@ static void init_ardupilot()
ahrs.set_airspeed(&airspeed);
// GPS Initialization
gps.init(&DataFlash);
gps.init(&DataFlash, serial_manager );
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
@ -187,7 +184,7 @@ static void init_ardupilot()
@@ -187,7 +184,7 @@ static void init_ardupilot()
relay.init();
// initialise camera mount
camera_mount.init();
camera_mount.init(serial_manager );
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
@ -200,14 +197,16 @@ static void init_ardupilot()
@@ -200,14 +197,16 @@ static void init_ardupilot()
*/
hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
#if CLI_ENABLED == ENABLED
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
cliSerial->println_P(msg);
if (gcs[1].initialised) {
hal.uartC ->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL) ) {
gcs[1].get_uart() ->println_P(msg);
}
if (num_gcs > 2 && gcs[2].initialised) {
hal.uartD ->println_P(msg);
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL) ) {
gcs[2].get_uart() ->println_P(msg);
}
#endif // CLI_ENABLED
startup_ground();
if (should_log(MASK_LOG_CMD))
@ -279,12 +278,7 @@ static void startup_ground(void)
@@ -279,12 +278,7 @@ static void startup_ground(void)
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
hal.uartA->set_blocking_writes(false);
hal.uartB->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
if (hal.uartD != NULL) {
hal.uartD->set_blocking_writes(false);
}
serial_manager.set_blocking_writes_all(false);
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
@ -583,9 +577,9 @@ static void check_usb_mux(void)
@@ -583,9 +577,9 @@ static void check_usb_mux(void)
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
// at SERIAL1_BAUD.
if (usb_connected) {
hal.uartA->begin(SERIAL0_BAUD );
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console );
} else {
hal.uartA->begin(map_baudrate(g.serial1_baud) );
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1 );
}
#endif
}
Randy Mackay
10 years ago
committed by
Andrew Tridgell