Tracker: integrate SerialManager

AntennaTracker/AntennaTracker.pde

@@ -46,6 +46,7 @@
 #include <memcheck.h>
 
 #include <GCS_MAVLink.h>    // MAVLink GCS definitions
+#include <AP_SerialManager.h>   // Serial manager library
 #include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
 #include <DataFlash.h>
 #include <SITL.h>
@@ -159,6 +160,7 @@ static RC_Channel channel_pitch(CH_PITCH);
 ////////////////////////////////////////////////////////////////////////////////
 // GCS selection
 ////////////////////////////////////////////////////////////////////////////////
+static AP_SerialManager serial_manager;
 static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
 static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
 

AntennaTracker/Parameters.h

@@ -55,8 +55,8 @@ public:
         k_param_gcs1,               // stream rates for uartC
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
-        k_param_serial0_baud,
-        k_param_serial1_baud,
+        k_param_serial0_baud,       // deprecated
+        k_param_serial1_baud,       // deprecated
         k_param_imu,
         k_param_compass_enabled,
         k_param_compass,
@@ -68,7 +68,7 @@ public:
         k_param_pidPitch2Srv,
         k_param_pidYaw2Srv,
         k_param_gcs2,               // stream rates for uartD
-        k_param_serial2_baud,
+        k_param_serial2_baud,       // deprecated
 
         k_param_yaw_slew_time,
         k_param_pitch_slew_time,
@@ -91,6 +91,14 @@ public:
         k_param_yaw_range,
         k_param_pitch_range,            // 136
 
+        //
+        // 150: Telemetry control
+        //
+        k_param_serial_manager,     // serial manager library
+
+        //
+        // 200 : Radio settings
+        //
         k_param_channel_yaw = 200,
         k_param_channel_pitch,
 
@@ -109,11 +117,6 @@ public:
     //
     AP_Int16 sysid_this_mav;
     AP_Int16 sysid_my_gcs;
-    AP_Int8 serial0_baud;
-    AP_Int8 serial1_baud;
-#if MAVLINK_COMM_NUM_BUFFERS > 2
-    AP_Int8 serial2_baud;
-#endif
 
     AP_Int8 compass_enabled;
 

AntennaTracker/Parameters.pde

@@ -29,29 +29,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),
 
-    // @Param: SERIAL0_BAUD
-    // @DisplayName: USB Console Baud Rate
-    // @Description: The baud rate used on the USB console
-    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
-    // @User: Standard
-    GSCALAR(serial0_baud,           "SERIAL0_BAUD",   SERIAL0_BAUD/1000),
-
-    // @Param: SERIAL1_BAUD
-    // @DisplayName: Telemetry Baud Rate
-    // @Description: The baud rate used on the first telemetry port
-    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
-    // @User: Standard
-    GSCALAR(serial1_baud,           "SERIAL1_BAUD",   SERIAL1_BAUD/1000),
-
-#if MAVLINK_COMM_NUM_BUFFERS > 2
-    // @Param: SERIAL2_BAUD
-    // @DisplayName: Telemetry Baud Rate
-    // @Description: The baud rate used on the second telemetry port
-    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
-    // @User: Standard
-    GSCALAR(serial2_baud,           "SERIAL2_BAUD",   SERIAL2_BAUD/1000),
-#endif
-
     // @Param: MAG_ENABLE
     // @DisplayName: Enable Compass
     // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
@@ -262,6 +239,10 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp
     GOBJECT(channel_pitch,     "RC2_", RC_Channel),
 
+    // @Group: SERIAL
+    // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
+    GOBJECT(serial_manager,    "SERIAL",   AP_SerialManager),
+
 	GGROUP(pidPitch2Srv,       "PITCH2SRV_", PID),
 	GGROUP(pidYaw2Srv,         "YAW2SRV_", PID),
 

AntennaTracker/config.h

@@ -20,39 +20,11 @@
 #define CONFIG_BARO     HAL_BARO_DEFAULT
 #define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
 
-#ifdef HAL_SERIAL0_BAUD_DEFAULT
-# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
-#endif
-
 #ifndef MAV_SYSTEM_ID
  // use 2 for antenna tracker by default
  # define MAV_SYSTEM_ID          2
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Serial port speeds.
-//
-#ifndef SERIAL0_BAUD
- # define SERIAL0_BAUD                   115200
-#endif
-#ifndef SERIAL1_BAUD
- # define SERIAL1_BAUD                    57600
-#endif
-#ifndef SERIAL2_BAUD
- # define SERIAL2_BAUD                    57600
-#endif
-
-#ifndef SERIAL_BUFSIZE
- # define SERIAL_BUFSIZE 512
-#endif
-
-#ifndef SERIAL1_BUFSIZE
- # define SERIAL1_BUFSIZE 256
-#endif
-
-#ifndef SERIAL2_BUFSIZE
- # define SERIAL2_BUFSIZE 256
-#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // RC Channel definitions

AntennaTracker/system.pde

@@ -5,10 +5,8 @@ static const StorageAccess wp_storage(StorageManager::StorageMission);
 
 static void init_tracker()
 {
-    hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
-
-    // gps port
-    hal.uartB->begin(38400, 256, 16);
+    // initialise console serial port
+    serial_manager.init_console();
 
     cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
                          "\n\nFree RAM: %u\n"),
@@ -19,14 +17,14 @@ static void init_tracker()
 
     BoardConfig.init();
 
-    // reset the uartA baud rate after parameter load
-    hal.uartA->begin(map_baudrate(g.serial0_baud));
+    // initialise serial ports
+    serial_manager.init();
 
     // init baro before we start the GCS, so that the CLI baro test works
     barometer.init();
 
     // init the GCS
-    gcs[0].init(hal.uartA);
+    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
 
     // set up snooping on other mavlink destinations
     gcs[0].set_snoop(mavlink_snoop);
@@ -40,9 +38,8 @@ static void init_tracker()
     usb_connected = true;
     check_usb_mux();
 
-    // we have a 2nd serial port for telemetry
-    hal.uartC->begin(map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
-    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);
 
     mavlink_system.sysid = g.sysid_this_mav;
 
@@ -56,7 +53,7 @@ static void init_tracker()
     }
 
     // GPS Initialization
-    gps.init(NULL);
+    gps.init(NULL, serial_manager);
 
     ahrs.init();
     ahrs.set_fly_forward(false);
@@ -66,9 +63,8 @@ static void init_tracker()
 
     init_barometer();
 
-    hal.uartA->set_blocking_writes(false);
-    hal.uartB->set_blocking_writes(false);
-    hal.uartC->set_blocking_writes(false);
+    // set serial ports non-blocking
+    serial_manager.set_blocking_writes_all(false);
 
     // initialise servos
     init_servos();
@@ -233,9 +229,9 @@ 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
 }