init - // init - initialise serial ports
| 423 | |
| 424 | // init - // init - initialise serial ports |
| 425 | void AP_SerialManager::init() |
| 426 | { |
| 427 | // always reset passthru port2 on boot |
| 428 | passthru_port2.set_and_save_ifchanged(-1); |
| 429 | |
| 430 | #ifdef HAL_OTG1_CONFIG |
| 431 | /* |
| 432 | prevent users from changing USB protocol to other than |
| 433 | MAVLink. This fixes an issue where users trying to get SLCAN |
| 434 | change SERIAL0_PROTOCOL to 22 and find they can no longer connect |
| 435 | */ |
| 436 | if (state[0].protocol != SerialProtocol_MAVLink && |
| 437 | state[0].protocol != SerialProtocol_MAVLink2) { |
| 438 | state[0].protocol.set(SerialProtocol_MAVLink2); |
| 439 | } |
| 440 | #endif |
| 441 | |
| 442 | init_console(); |
| 443 | |
| 444 | // initialise serial ports |
| 445 | for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) { |
| 446 | auto *uart = hal.serial(i); |
| 447 | |
| 448 | state[i].idx = i; |
| 449 | |
| 450 | if (uart != nullptr) { |
| 451 | set_options(i); |
| 452 | switch (state[i].protocol) { |
| 453 | case SerialProtocol_None: |
| 454 | #if HAL_GCS_ENABLED |
| 455 | // disable RX and TX pins in case they are shared |
| 456 | // with another peripheral (eg. RCIN pin). We |
| 457 | // don't do this if GCS is not enabled as in that |
| 458 | // case we don't have serialmanager parameters and |
| 459 | // this would prevent AP_Periph from using a GPS |
| 460 | uart->disable_rxtx(); |
| 461 | #endif |
| 462 | break; |
| 463 | case SerialProtocol_Console: |
| 464 | case SerialProtocol_MAVLink: |
| 465 | case SerialProtocol_MAVLink2: |
| 466 | case SerialProtocol_MAVLinkHL: |
| 467 | uart->begin(state[i].baudrate(), |
| 468 | AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX, |
| 469 | AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX); |
| 470 | break; |
| 471 | case SerialProtocol_FrSky_D: |
| 472 | // Note baudrate is hardcoded to 9600 |
| 473 | state[i].baud.set_and_default(AP_SERIALMANAGER_FRSKY_D_BAUD/1000); // update baud param in case user looks at it |
| 474 | // begin is handled by AP_Frsky_telem library |
| 475 | break; |
| 476 | case SerialProtocol_FrSky_SPort: |
| 477 | case SerialProtocol_FrSky_SPort_Passthrough: |
| 478 | // Note baudrate is hardcoded to 57600 |
| 479 | state[i].baud.set_and_default(AP_SERIALMANAGER_FRSKY_SPORT_BAUD/1000); // update baud param in case user looks at it |
| 480 | // begin is handled by AP_Frsky_telem library |
| 481 | break; |
| 482 | case SerialProtocol_GPS: |
nothing calls this directly
no test coverage detected