// init - performs any required initialisation for this instance
void AP_Mount_SToRM32::init(const AP_SerialManager& serial_manager)
{
// get_mavlink_channel for MAVLink2
if (serial_manager.get_mavlink_channel(AP_SerialManager::SerialProtocol_MAVLink2, _chan)) {
_initialised = true;
set_mode((enum MAV_MOUNT_MODE)_state._default_mode.get());
}
}
/*
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);
}
