增加串口发送测试，半成品

ArduCopter/Copter.h

@@ -1039,6 +1039,8 @@ public:
     void zr_SlowLoop();
     bool flow_start_sw;
     bool flow_index_sw;
+    void control_serial_test();
+    uint8_t serial_send_step;
 };
 
 extern Copter copter;

ArduCopter/Parameters.cpp

@@ -151,6 +151,9 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Standard
     GSCALAR(zr_rtl_delay,  "ZR_RTL_DELAY", ZR_RTL_DELAY),
 
+    GSCALAR(zr_send_type,  "ZR_SERIAL_TP", 0),
+    
+
 #if MODE_RTL_ENABLED == ENABLED
     // @Param: RTL_ALT
     // @DisplayName: RTL Altitude

ArduCopter/Parameters.h

@@ -389,6 +389,7 @@ public:
         k_param_zr_tk_req_alt,
         k_param_zr_tk_delay,
         k_param_zr_rtl_delay,
+        k_param_zr_send_type,
         // the k_param_* space is 9-bits in size
         // 511: reserved
     };
@@ -500,6 +501,7 @@ public:
     AP_Int32                 zr_tk_req_alt;
     AP_Int16                 zr_tk_delay;
     AP_Int16                 zr_rtl_delay;
+    AP_Int8                  zr_send_type;
     // Note: keep initializers here in the same order as they are declared
     // above.
     Parameters()

ArduCopter/UserCode.cpp

@@ -59,6 +59,9 @@ void Copter::userhook_SuperSlowLoop()
     int32_t real_alt = gps.location().alt + gps.get_gps_delt_alt();  
     flow_measure.flow_auto_measure(flow_start_sw,flow_index_sw, real_alt, measure_time);
 
+    if(serial_send_step!=0)
+        control_serial_test();
+
 }
 #endif
 
@@ -87,6 +90,7 @@ void Copter::userhook_auxSwitch1(uint8_t ch_flag)
 void Copter::userhook_auxSwitch2(uint8_t ch_flag)
 {
     // put your aux switch #2 handler here (CHx_OPT = 48)
+    
     switch (ch_flag) {
         case 2: {
             // relay.on(2);
@@ -101,10 +105,28 @@ void Copter::userhook_auxSwitch2(uint8_t ch_flag)
             break;
         }
     }
+    
 }
 
 void Copter::userhook_auxSwitch3(uint8_t ch_flag)
 {
     // put your aux switch #3 handler here (CHx_OPT = 49)
+    switch (ch_flag) {
+        case 2: {
+            serial_send_step = 2;
+            gcs().send_text(MAV_SEVERITY_NOTICE, "[NOTE]seials s108!");
+            break;
+        }
+        case 1: {
+            serial_send_step = 1;
+            gcs().send_text(MAV_SEVERITY_NOTICE, "[NOTE]serial +++!");
+            break;
+        }
+        case 0: {
+            serial_send_step = 0;
+            gcs().send_text(MAV_SEVERITY_NOTICE, "[NOTE]serial: off!");
+            break;
+        }
+    }    
 }
 #endif

ArduCopter/zr_flight.cpp

@@ -102,4 +102,110 @@ void Copter::zr_SuperSlowLoop(){
     // flow_measure.flow_auto_measure(flow_start_sw,flow_index_sw, real_alt, measure_time);
 
 }
+
+void Copter::control_serial_test()
+{
+    
+    uint8_t select_power = g.zr_send_type;
+    if(select_power == 0)
+        return;
+
+    const uint8_t start_cmd[] = "ATS108?\n";
+    const uint8_t power_100mw[] = "ATS108=20\n";
+    const uint8_t power_200mw[] = "ATS108=23\n";
+    const uint8_t power_320mw[] = "ATS108=25\n";
+    const uint8_t power_500mw[] = "ATS108=27\n";
+    const uint8_t power_1w[] = "ATS108=30\n";
+    const uint8_t write_cmd[] = "AT&W\n";
+    uint8_t power_s[] = "          ";
+    uint8_t read_s[50] = "";
+    static uint8_t last_step;
+    switch (select_power)
+    {
+        case 1:
+            memcpy(power_s,power_100mw,11);
+            break;
+        case 2:
+            memcpy(power_s,power_200mw,11);
+            break;
+        case 3:
+            memcpy(power_s,power_320mw,11);
+            break;
+        case 4:
+            memcpy(power_s,power_500mw,11);
+            break;
+        case 5:
+            memcpy(power_s,power_1w,11);
+            break;
+        
+        default:
+            break;
+    }
+    // const uint8_t power_select[] = power_s;
+    AP_HAL::UARTDriver *_uart;
+    uint32_t nbytes;
+    static uint8_t read_len;
+
+    _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Serial_Set,0);
+	if (_uart == nullptr) {
+        
+        gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: control_serial_test serial not set");
+	    return;
+	}
+
+    nbytes = _uart->available(); 
+
+    while(nbytes-->0)
+    {
+        uint8_t temp = _uart->read();
+        read_s[read_len] = temp;
+        read_len++;
+        // gcs().send_text(MAV_SEVERITY_INFO,"%c",temp);
+    }
+    if(read_len > 49){
+        read_len = 0;
+        gcs().send_text(MAV_SEVERITY_INFO,"read:%s",read_s);
+    }
+    if(read_len > 0){
+        static uint8_t cnt = 0;
+        cnt++;
+        if(cnt > 10)
+        {
+            read_len = 0;
+            gcs().send_text(MAV_SEVERITY_INFO,"read cnt:%s",read_s);
+            cnt = 0;
+        }
+    }
+    uint8_t prt[] = "get new serial data";
+    if(last_step != serial_send_step ){
+    switch (serial_send_step)
+    {
+            gcs().send_text(MAV_SEVERITY_INFO,"serial:%s",prt);
+    case 0:
+        /* code */
+        break;
+    case 1:
+        
+        if (_uart->txspace() > sizeof(start_cmd)) {
+            _uart->write(start_cmd, sizeof(start_cmd));
+        }
+        gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: start_cmd");
+        break;
+    case 2:
+        if (_uart->txspace() > sizeof(power_s)) {
+            _uart->write(power_s, sizeof(power_s));
+        }
+        gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: power_s:%d",select_power);
+        if (_uart->txspace() > sizeof(write_cmd)) {
+            _uart->write(write_cmd, sizeof(write_cmd));
+        }
+        gcs().send_text(MAV_SEVERITY_INFO,"NOTICE:----- set ok");
+        break;
+    
+    default:
+        break;
+    }
+    last_step = serial_send_step;
+}
+}
 #endif

copy.sh

@@ -1,2 +1,2 @@
-sudo cp ./build/Pixhawk4/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/zr-flow-v2-rc2.px4
+sudo cp ./build/Pixhawk4/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/zr-flow-v2-test.px4
 

libraries/AP_SerialManager/AP_SerialManager.cpp

@@ -480,6 +480,12 @@ void AP_SerialManager::init()
                                          AP_SERIALMANAGER_FLOW_MEASURE_BUFSIZE_RX,
                                          AP_SERIALMANAGER_FLOW_MEASURE_BUFSIZE_TX);
                     break;
+
+                case SerialProtocol_Serial_Set: // add by @Brown
+                    state[i].uart->begin(map_baudrate(state[i].baud), 
+                                         AP_SERIALMANAGER_FLOW_MEASURE_BUFSIZE_RX,
+                                         AP_SERIALMANAGER_FLOW_MEASURE_BUFSIZE_TX);
+                    break;
                 
 
 #ifndef HAL_BUILD_AP_PERIPH

libraries/AP_SerialManager/AP_SerialManager.h

@@ -129,7 +129,8 @@ public:
         SerialProtocol_RCIN = 23,
         SerialProtocol_Battery =24,
         SerialProtocol_Camera_X30T = 25,
-        SerialProtocol_Flow_Measure = 26      // add by @Brown
+        SerialProtocol_Flow_Measure = 26,      // add by @Brown
+        SerialProtocol_Serial_Set = 27      // add by @Brown
     };
 
     // get singleton instance