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Rover: convert to new logging system

master
Andrew Tridgell 12 years ago
parent
916e8d0992
commit
90f70707b1
6 changed files with 94 additions and 350 deletions
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  1. 14
      APMrover2/APMrover2.pde
  2. 7
      APMrover2/GCS_Mavlink.pde
  3. 393
      APMrover2/Log.pde
  4. 21
      APMrover2/defines.h
  5. 2
      APMrover2/setup.pde
  6. 7
      APMrover2/system.pde

14
APMrover2/APMrover2.pde
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@ -125,11 +125,12 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...); @@ -125,11 +125,12 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...);
// DataFlash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
DataFlash_APM1 DataFlash;
static DataFlash_APM1 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
DataFlash_APM2 DataFlash;
static DataFlash_APM2 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
DataFlash_SITL DataFlash;
//static DataFlash_File DataFlash("/tmp/APMlogs");
static DataFlash_SITL DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
static DataFlash_File DataFlash("/fs/microsd/APM/logs");
#else
@ -641,7 +642,7 @@ static void fast_loop() @@ -641,7 +642,7 @@ static void fast_loop()
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_IMU)
Log_Write_IMU();
DataFlash.Log_Write_IMU(&ins);
#endif
// custom code/exceptions for flight modes
@ -719,7 +720,7 @@ static void medium_loop() @@ -719,7 +720,7 @@ static void medium_loop()
Log_Write_Nav_Tuning();
if (g.log_bitmask & MASK_LOG_GPS)
Log_Write_GPS();
DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
break;
// This case controls the slow loop
@ -779,10 +780,7 @@ static void slow_loop() @@ -779,10 +780,7 @@ static void slow_loop()
mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter
#if USB_MUX_PIN > 0
check_usb_mux();
#endif
break;
}
}

7
APMrover2/GCS_Mavlink.pde
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@ -1274,7 +1274,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1274,7 +1274,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
gcs_send_text_fmt(PSTR("Unknown parameter index %d"), packet.param_index);
break;
}
vp->copy_name_token(&token, param_name, AP_MAX_NAME_SIZE, true);
vp->copy_name_token(token, param_name, AP_MAX_NAME_SIZE, true);
param_name[AP_MAX_NAME_SIZE] = 0;
} else {
strncpy(param_name, packet.param_id, AP_MAX_NAME_SIZE);
@ -1625,6 +1625,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) @@ -1625,6 +1625,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mav_var_type(var_type),
_count_parameters(),
-1); // XXX we don't actually know what its index is...
DataFlash.Log_Write_Parameter(key, vp->cast_to_float(var_type));
}
break;
@ -1817,7 +1818,7 @@ GCS_MAVLINK::queued_param_send() @@ -1817,7 +1818,7 @@ GCS_MAVLINK::queued_param_send()
value = vp->cast_to_float(_queued_parameter_type);
char param_name[AP_MAX_NAME_SIZE];
vp->copy_name_token(&_queued_parameter_token, param_name, sizeof(param_name), true);
vp->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);
mavlink_msg_param_value_send(
chan,
@ -1881,9 +1882,7 @@ static void mavlink_delay_cb() @@ -1881,9 +1882,7 @@ static void mavlink_delay_cb()
last_5s = tnow;
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
}
#if USB_MUX_PIN > 0
check_usb_mux();
#endif
in_mavlink_delay = false;
}

393
APMrover2/Log.pde
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@ -175,38 +175,7 @@ void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon) @@ -175,38 +175,7 @@ void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon)
s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
}
struct log_Attitute {
LOG_PACKET_HEADER;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write an attitude packet. Total length : 10 bytes
static void Log_Write_Attitude()
{
struct log_Attitute pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read an attitude packet
static void Log_Read_Attitude()
{
struct log_Attitute pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("ATT, %d, %d, %u\n"),
(int)pkt.roll,
(int)pkt.pitch,
(unsigned)pkt.yaw);
}
struct log_Performance {
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t loop_time;
uint16_t main_loop_count;
@ -241,26 +210,7 @@ static void Log_Write_Performance() @@ -241,26 +210,7 @@ static void Log_Write_Performance()
}
#endif
// Read a performance packet
static void Log_Read_Performance()
{
struct log_Performance pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("PM, %lu, %u, %d, %u, %u, %u, %d, %d, %d, %d\n"),
pkt.loop_time,
(unsigned)pkt.main_loop_count,
(int)pkt.g_dt_max,
(unsigned)pkt.renorm_count,
(unsigned)pkt.renorm_blowup,
(unsigned)pkt.gps_fix_count,
(int)pkt.gyro_drift_x,
(int)pkt.gyro_drift_y,
(int)pkt.gyro_drift_z,
(int)pkt.pm_test);
}
struct log_Cmd {
struct PACKED log_Cmd {
LOG_PACKET_HEADER;
uint8_t command_total;
uint8_t command_number;
@ -289,24 +239,7 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp) @@ -289,24 +239,7 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a command processing packet
static void Log_Read_Cmd()
{
struct log_Cmd pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("CMD, %u, %u, %u, %u, %u, %ld, %ld, %ld\n"),
(unsigned)pkt.command_total,
(unsigned)pkt.command_number,
(unsigned)pkt.waypoint_id,
(unsigned)pkt.waypoint_options,
(unsigned)pkt.waypoint_param1,
(long)pkt.waypoint_altitude,
(long)pkt.waypoint_latitude,
(long)pkt.waypoint_longitude);
}
struct log_Startup {
struct PACKED log_Startup {
LOG_PACKET_HEADER;
uint8_t startup_type;
uint8_t command_total;
@ -329,33 +262,13 @@ static void Log_Write_Startup(uint8_t type) @@ -329,33 +262,13 @@ static void Log_Write_Startup(uint8_t type)
}
}
static void Log_Read_Startup()
{
struct log_Startup pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
switch( pkt.startup_type ) {
case TYPE_AIRSTART_MSG:
cliSerial->printf_P(PSTR("AIR START"));
break;
case TYPE_GROUNDSTART_MSG:
cliSerial->printf_P(PSTR("GROUND START"));
break;
default:
cliSerial->printf_P(PSTR("UNKNOWN STARTUP"));
break;
}
cliSerial->printf_P(PSTR(" - %u commands in memory\n"),(unsigned)pkt.command_total);
}
struct log_Control_Tuning {
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
int16_t steer_out;
int16_t roll;
int16_t pitch;
int16_t throttle_out;
int16_t accel_y;
float accel_y;
};
// Write a control tuning packet. Total length : 22 bytes
@ -364,33 +277,18 @@ static void Log_Write_Control_Tuning() @@ -364,33 +277,18 @@ static void Log_Write_Control_Tuning()
{
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
steer_out : (int16_t)g.channel_steer.servo_out,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)g.channel_throttle.servo_out,
accel_y : (int16_t)(accel.y * 10000)
accel_y : accel.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
#endif
// Read an control tuning packet
static void Log_Read_Control_Tuning()
{
struct log_Control_Tuning pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("CTUN, %4.2f, %4.2f, %4.2f, %4.2f, %4.2f\n"),
(float)pkt.steer_out / 100.f,
(float)pkt.roll / 100.f,
(float)pkt.pitch / 100.f,
(float)pkt.throttle_out / 100.f,
(float)pkt.accel_y / 10000.f
);
}
struct log_Nav_Tuning {
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint16_t yaw;
float wp_distance;
@ -404,7 +302,7 @@ struct log_Nav_Tuning { @@ -404,7 +302,7 @@ struct log_Nav_Tuning {
static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : wp_distance,
target_bearing_cd : (uint16_t)target_bearing,
@ -415,22 +313,43 @@ static void Log_Write_Nav_Tuning() @@ -415,22 +313,43 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a nav tuning packet
static void Log_Read_Nav_Tuning()
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write an attitude packet
void Log_Write_Attitude()
{
struct log_Nav_Tuning pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("NTUN, %4.4f, %4.2f, %4.4f, %4.4f, %4.4f, %d\n"),
(float)pkt.yaw/100.0f,
pkt.wp_distance,
(float)(pkt.target_bearing_cd/100.0f),
(float)(pkt.nav_bearing_cd/100.0f),
(float)(pkt.nav_gain_scalar/100.0f),
(int)pkt.throttle);
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct log_Sonar {
struct log_Mode {
LOG_PACKET_HEADER;
uint8_t mode;
};
// Write a mode packet. Total length : 7 bytes
static void Log_Write_Mode()
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
mode : (uint8_t)control_mode
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Sonar {
LOG_PACKET_HEADER;
int16_t nav_steer;
uint16_t sonar1_distance;
@ -465,137 +384,12 @@ static void Log_Write_Sonar() @@ -465,137 +384,12 @@ static void Log_Write_Sonar()
}
#endif
// Read a sonar packet
static void Log_Read_Sonar()
{
struct log_Sonar pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("SONR, %d, %u, %u, %u, %d, %u, %u, %d\n"),
(int)pkt.nav_steer,
(unsigned)pkt.sonar1_distance,
(unsigned)pkt.sonar2_distance,
(unsigned)pkt.detected_count,
(int)pkt.turn_angle,
(unsigned)pkt.turn_time,
(unsigned)pkt.ground_speed,
(int)pkt.throttle);
}
struct log_Mode {
LOG_PACKET_HEADER;
uint8_t mode;
};
// Write a mode packet. Total length : 5 bytes
static void Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
mode : mode
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a mode packet
static void Log_Read_Mode()
{
struct log_Mode pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("MOD,"));
print_mode(pkt.mode);
}
struct log_GPS {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint8_t status;
uint8_t num_sats;
int32_t latitude;
int32_t longitude;
int32_t altitude;
uint32_t ground_speed;
int32_t ground_course;
int16_t hdop;
};
// Write an GPS packet. Total length : 30 bytes
static void Log_Write_GPS()
{
struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
gps_time : g_gps->time,
status : g_gps->status(),
num_sats : g_gps->num_sats,
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : g_gps->altitude,
ground_speed : g_gps->ground_speed,
ground_course : g_gps->ground_course,
hdop : g_gps->hdop
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a GPS packet
static void Log_Read_GPS()
{
struct log_GPS pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("GPS, %ld, %u, %u, "),
(long)pkt.gps_time,
(unsigned)pkt.status,
(unsigned)pkt.num_sats);
print_latlon(cliSerial, pkt.latitude);
cliSerial->print_P(PSTR(", "));
print_latlon(cliSerial, pkt.longitude);
cliSerial->printf_P(PSTR(", %4.4f, %lu, %ld, %d\n"),
(float)pkt.altitude*0.01,
(unsigned long)pkt.ground_speed,
(long)pkt.ground_course,
(int)pkt.hdop);
}
struct log_IMU {
LOG_PACKET_HEADER;
Vector3f gyro;
Vector3f accel;
};
// Write an raw accel/gyro data packet. Total length : 28 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_IMU()
{
struct log_IMU pkt = {
LOG_PACKET_HEADER_INIT(LOG_IMU_MSG),
gyro : ins.get_gyro(),
accel : ins.get_accel()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
#endif
// Read a raw accel/gyro packet
static void Log_Read_IMU()
{
struct log_IMU pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("IMU, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f\n"),
pkt.gyro.x,
pkt.gyro.y,
pkt.gyro.z,
pkt.accel.x,
pkt.accel.y,
pkt.accel.z);
}
struct log_Current {
struct PACKED log_Current {
LOG_PACKET_HEADER;
int16_t throttle_in;
int16_t battery_voltage;
int16_t current_amps;
int16_t current_total;
float current_total;
};
static void Log_Write_Current()
@ -605,22 +399,33 @@ static void Log_Write_Current() @@ -605,22 +399,33 @@ static void Log_Write_Current()
throttle_in : g.channel_throttle.control_in,
battery_voltage : (int16_t)(battery_voltage1 * 100.0),
current_amps : (int16_t)(current_amps1 * 100.0),
current_total : (int16_t)current_total1
current_total : current_total1
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a Current packet
static void Log_Read_Current()
{
struct log_Current pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("CURRENT, %d, %4.4f, %4.4f, %d\n"),
(int)pkt.throttle_in,
((float)pkt.battery_voltage / 100.f),
((float)pkt.current_amps / 100.f),
(int)pkt.current_total);
}
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHhBBBhhhh", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,PMT" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "BB", "SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "hcchf", "Steer,Roll,Pitch,ThrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "HfHHhb", "Yaw,WpDist,TargBrg,NavBrg,NavGain,Thr" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "hHHHbHCb", "NavStr,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hhhf", "Thr,Volt,Curr,CurrTot" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "B", "Mode" },
};
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
@ -633,77 +438,21 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page) @@ -633,77 +438,21 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
#if CLI_ENABLED == ENABLED
setup_show(0, NULL);
#endif
DataFlash.log_read_process(log_num, start_page, end_page, log_callback);
}
// Read the DataFlash log memory : Packet Parser
static void log_callback(uint8_t msgid)
{
switch (msgid) {
case LOG_ATTITUDE_MSG:
Log_Read_Attitude();
break;
case LOG_MODE_MSG:
Log_Read_Mode();
break;
case LOG_CONTROL_TUNING_MSG:
Log_Read_Control_Tuning();
break;
case LOG_NAV_TUNING_MSG:
Log_Read_Nav_Tuning();
break;
case LOG_PERFORMANCE_MSG:
Log_Read_Performance();
break;
case LOG_IMU_MSG:
Log_Read_IMU();
break;
case LOG_CMD_MSG:
Log_Read_Cmd();
break;
case LOG_CURRENT_MSG:
Log_Read_Current();
break;
case LOG_STARTUP_MSG:
Log_Read_Startup();
break;
case LOG_GPS_MSG:
Log_Read_GPS();
break;
case LOG_SONAR_MSG:
Log_Read_Sonar();
break;
}
DataFlash.LogReadProcess(log_num, start_page, end_page,
sizeof(log_structure)/sizeof(log_structure[0]),
log_structure, cliSerial);
}
#else // LOGGING_ENABLED
// dummy functions
static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_Startup(uint8_t type) {}
static void Log_Write_Cmd(uint8_t num, const struct Location *wp) {}
static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_GPS() {}
static void Log_Write_Performance() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Attitude() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_IMU() {}
static void Log_Write_Sonar() {}

21
APMrover2/defines.h
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@ -126,18 +126,15 @@ enum gcs_severity { @@ -126,18 +126,15 @@ enum gcs_severity {
};
// Logging parameters
#define LOG_INDEX_MSG 0xF0
#define LOG_ATTITUDE_MSG 0x01
#define LOG_GPS_MSG 0x02
#define LOG_MODE_MSG 0x03
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_IMU_MSG 0x07
#define LOG_CMD_MSG 0x08
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A
#define LOG_SONAR_MSG 0x0B
#define LOG_CTUN_MSG 0x01
#define LOG_NTUN_MSG 0x02
#define LOG_PERFORMANCE_MSG 0x03
#define LOG_CMD_MSG 0x04
#define LOG_CURRENT_MSG 0x05
#define LOG_STARTUP_MSG 0x06
#define LOG_SONAR_MSG 0x07
#define LOG_ATTITUDE_MSG 0x08
#define LOG_MODE_MSG 0x09
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01

2
APMrover2/setup.pde
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@ -117,7 +117,7 @@ setup_show(uint8_t argc, const Menu::arg *argv) @@ -117,7 +117,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
cliSerial->printf_P(PSTR("Raw Values\n"));
print_divider();
AP_Param::show_all();
AP_Param::show_all(cliSerial);
return(0);
}

7
APMrover2/system.pde
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@ -334,7 +334,7 @@ static void set_mode(enum mode mode) @@ -334,7 +334,7 @@ static void set_mode(enum mode mode)
}
if (g.log_bitmask & MASK_LOG_MODE)
Log_Write_Mode(control_mode);
Log_Write_Mode();
}
/*
@ -472,9 +472,9 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud) @@ -472,9 +472,9 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
}
#if USB_MUX_PIN > 0
static void check_usb_mux(void)
{
#if USB_MUX_PIN > 0
bool usb_check = !digitalRead(USB_MUX_PIN);
if (usb_check == usb_connected) {
return;
@ -487,8 +487,9 @@ static void check_usb_mux(void) @@ -487,8 +487,9 @@ static void check_usb_mux(void)
} else {
hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
}
}
#endif
}
/*

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