/*
setup a UART, handling begin() and init()
*/
void
GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance)
{
// search for serial port
AP_HAL::UARTDriver *uart;
uart = serial_manager.find_serial(protocol, instance);
if (uart == NULL) {
// return immediately if not found
return;
}
// get associated mavlink channel
mavlink_channel_t mav_chan;
if (!serial_manager.get_mavlink_channel(protocol, instance, mav_chan)) {
// return immediately in unlikely case mavlink channel cannot be found
return;
}
/*
Now try to cope with SiK radios that may be stuck in bootloader
mode because CTS was held while powering on. This tells the
bootloader to wait for a firmware. It affects any SiK radio with
CTS connected that is externally powered. To cope we send 0x30
0x20 at 115200 on startup, which tells the bootloader to reset
and boot normally
*/
uart->begin(115200);
AP_HAL::UARTDriver::flow_control old_flow_control = uart->get_flow_control();
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
for (uint8_t i=0; i<3; i++) {
hal.scheduler->delay(1);
uart->write(0x30);
uart->write(0x20);
}
// since tcdrain() and TCSADRAIN may not be implemented...
hal.scheduler->delay(1);
uart->set_flow_control(old_flow_control);
// now change back to desired baudrate
uart->begin(serial_manager.find_baudrate(protocol, instance));
// and init the gcs instance
init(uart, mav_chan);
}
/*
send some more initialisation string bytes if there is room in the
UART transmit buffer
*/
void AP_GPS::send_blob_update(uint8_t instance)
{
// see if we can write some more of the initialisation blob
if (initblob_state[instance].remaining > 0) {
AP_HAL::UARTDriver *port = instance==0?hal.uartB:hal.uartE;
int16_t space = port->txspace();
if (space > (int16_t)initblob_state[instance].remaining) {
space = initblob_state[instance].remaining;
}
while (space > 0) {
port->write(pgm_read_byte(initblob_state[instance].blob));
initblob_state[instance].blob++;
space--;
initblob_state[instance].remaining--;
}
}
}
/**
handle a SERIAL_CONTROL message
*/
void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
{
mavlink_serial_control_t packet;
mavlink_msg_serial_control_decode(msg, &packet);
AP_HAL::UARTDriver *port = NULL;
if (packet.flags & SERIAL_CONTROL_FLAG_REPLY) {
// how did this packet get to us?
return;
}
bool exclusive = (packet.flags & SERIAL_CONTROL_FLAG_EXCLUSIVE) != 0;
switch (packet.device) {
case SERIAL_CONTROL_DEV_TELEM1:
port = hal.uartC;
lock_channel(MAVLINK_COMM_1, exclusive);
break;
case SERIAL_CONTROL_DEV_TELEM2:
port = hal.uartD;
lock_channel(MAVLINK_COMM_2, exclusive);
break;
case SERIAL_CONTROL_DEV_GPS1:
port = hal.uartB;
gps.lock_port(0, exclusive);
break;
case SERIAL_CONTROL_DEV_GPS2:
port = hal.uartE;
gps.lock_port(1, exclusive);
break;
default:
// not supported yet
return;
}
if (exclusive) {
// force flow control off for exclusive access. This protocol
// is used to talk to bootloaders which may not have flow
// control support
port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
}
// optionally change the baudrate
if (packet.baudrate != 0) {
port->begin(packet.baudrate);
}
// write the data
if (packet.count != 0) {
if ((packet.flags & SERIAL_CONTROL_FLAG_BLOCKING) == 0) {
port->write(packet.data, packet.count);
} else {
const uint8_t *data = &packet.data[0];
uint8_t count = packet.count;
while (count > 0) {
while (port->txspace() <= 0) {
hal.scheduler->delay(5);
}
uint16_t n = port->txspace();
if (n > packet.count) {
n = packet.count;
}
port->write(data, n);
data += n;
count -= n;
}
}
}
if ((packet.flags & SERIAL_CONTROL_FLAG_RESPOND) == 0) {
// no response expected
return;
}
uint8_t flags = packet.flags;
more_data:
// sleep for the timeout
while (packet.timeout != 0 &&
port->available() < (int16_t)sizeof(packet.data)) {
hal.scheduler->delay(1);
packet.timeout--;
}
packet.flags = SERIAL_CONTROL_FLAG_REPLY;
// work out how many bytes are available
int16_t available = port->available();
if (available < 0) {
available = 0;
}
if (available > (int16_t)sizeof(packet.data)) {
available = sizeof(packet.data);
}
// read any reply data
packet.count = 0;
memset(packet.data, 0, sizeof(packet.data));
while (available > 0) {
packet.data[packet.count++] = (uint8_t)port->read();
available--;
}
// and send the reply
_mav_finalize_message_chan_send(chan,
MAVLINK_MSG_ID_SERIAL_CONTROL,
(const char *)&packet,
MAVLINK_MSG_ID_SERIAL_CONTROL_LEN,
MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
if ((flags & SERIAL_CONTROL_FLAG_MULTI) && packet.count != 0) {
hal.scheduler->delay(1);
goto more_data;
}
}