From 3af69f5328f786578ce2cbb828b03dd663d30680 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 26 Nov 2013 10:58:50 +1100
Subject: [PATCH] Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to
SERIAL1_BAUD
---
ArduCopter/APM_Config_mavlink_hil.h | 2 +-
ArduCopter/GCS_Mavlink.pde | 2 +-
ArduCopter/Parameters.h | 8 ++++++--
ArduCopter/Parameters.pde | 15 ++++++++++++---
ArduCopter/config.h | 7 +++++--
ArduCopter/system.pde | 12 +++++++-----
6 files changed, 32 insertions(+), 14 deletions(-)
diff --git a/ArduCopter/APM_Config_mavlink_hil.h b/ArduCopter/APM_Config_mavlink_hil.h
index 00364e3f2..3f6d781e6 100644
--- a/ArduCopter/APM_Config_mavlink_hil.h
+++ b/ArduCopter/APM_Config_mavlink_hil.h
@@ -25,7 +25,7 @@
// the loop port. Alternatively, use a telemetry/HIL shim like FGShim
// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
//
-// The buad rate is controlled by SERIAL3_BAUD in this mode.
+// The buad rate is controlled by SERIAL1_BAUD in this mode.
#define HIL_PORT 3
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 0d029b535..f7bae1395 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -2068,7 +2068,7 @@ GCS_MAVLINK::queued_param_send()
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
- bytes_allowed = g.serial3_baud * (tnow - _queued_parameter_send_time_ms) * 26;
+ bytes_allowed = g.serial1_baud * (tnow - _queued_parameter_send_time_ms) * 26;
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 01400655d..4249d850b 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -137,9 +137,10 @@ public:
k_param_gcs1,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
- k_param_serial3_baud,
+ k_param_serial1_baud,
k_param_telem_delay,
k_param_gcs2,
+ k_param_serial2_baud,
//
// 140: Sensor parameters
@@ -282,7 +283,10 @@ public:
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
- AP_Int8 serial3_baud;
+ AP_Int8 serial1_baud;
+#if MAVLINK_COMM_NUM_BUFFERS > 2
+ AP_Int8 serial2_baud;
+#endif
AP_Int8 telem_delay;
AP_Int16 rtl_altitude;
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 86ce98eb4..e0f16653f 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -49,12 +49,21 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
- // @Param: SERIAL3_BAUD
+ // @Param: SERIAL1_BAUD
// @DisplayName: Telemetry Baud Rate
- // @Description: The baud rate used on the telemetry port
+ // @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(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
+ 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 seconds 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: TELEM_DELAY
// @DisplayName: Telemetry startup delay
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index cebf4bc72..933c664cf 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -332,8 +332,11 @@
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
-#ifndef SERIAL3_BAUD
- # define SERIAL3_BAUD 57600
+#ifndef SERIAL1_BAUD
+ # define SERIAL1_BAUD 57600
+#endif
+#ifndef SERIAL2_BAUD
+ # define SERIAL2_BAUD 57600
#endif
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 45805b014..9978dcd67 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -150,13 +150,15 @@ static void init_ardupilot()
// we have a 2nd serial port for telemetry on all boards except
// APM2. We actually do have one on APM2 but it isn't necessary as
// a MUX is used
- hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
+ hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128);
gcs[1].init(hal.uartC);
#endif
+#if MAVLINK_COMM_NUM_BUFFERS > 2
if (hal.uartD != NULL) {
- hal.uartD->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
+ hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128);
gcs[2].init(hal.uartD);
}
+#endif
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
@@ -529,7 +531,7 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
case 111: return 111100;
case 115: return 115200;
}
- //cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
+ //cliSerial->println_P(PSTR("Invalid baudrate"));
return default_baud;
}
@@ -547,11 +549,11 @@ static void check_usb_mux(void)
// the APM2 has a MUX setup where the first serial port switches
// between USB and a TTL serial connection. When on USB we use
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
- // at SERIAL3_BAUD.
+ // at SERIAL1_BAUD.
if (ap.usb_connected) {
hal.uartA->begin(SERIAL0_BAUD);
} else {
- hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
+ hal.uartA->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD));
}
#endif
}
--
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