Communicating through UART serial port

ArduCopter Copter 3.3
1

Hello, I trying to communicate with PIXHAWK <----> COMPUTER Serial port.

My code is very simple, first I uncommented in APM_Config.h lines:

#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz

Then I wrote very simple example in UserCode.cpp:

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#include "Copter.h"
static void setup_uart(AP_HAL::UARTDriver *uart, const char *name);

#ifdef USERHOOK_INIT
void Copter::userhook_init()
{
    setup_uart(hal.uartE, "uartE");
    setup_uart(hal.uartD, "uartD");

}
#endif

#ifdef USERHOOK_FASTLOOP
void Copter::userhook_FastLoop()
{
    // put your 100Hz code here
}
#endif

#ifdef USERHOOK_50HZLOOP
void Copter::userhook_50Hz()
{
    // put your 50Hz code here
}
#endif

#ifdef USERHOOK_MEDIUMLOOP
void Copter::userhook_MediumLoop()
{
    // put your 10Hz code here
}
#endif

#ifdef USERHOOK_SLOWLOOP
void Copter::userhook_SlowLoop()
{
    // put your 3.3Hz code here
}
#endif

#ifdef USERHOOK_SUPERSLOWLOOP

void Copter::userhook_SuperSlowLoop()
{
    hal.uartE->printf("test");
    hal.uartD->printf("test");

}
#endif

/* setup UART at 57600 ---------------------------------------- */
static void setup_uart(AP_HAL::UARTDriver *uart, const char *name)
{
    if (uart == NULL)
    {
        // that UART doesn't exist on this platform
        return;
    }
    ///begin(baudrate,Rx,Tx)
    uart->begin(57600, 256, 256);
}

But on computer side I cannot see anything. Can anyone help me, is it the correct way? Thank You!

2

I’d suggested looking at adding some printf to the console to see where you code is getting too

http://ardupilot.org/dev/docs/learning-ardupilot-uarts-and-the-console.html

And review how the board is setup, as you amy have conflict with an already open port

https://github.com/ardupilot/ardupilot/blob/master/libraries/AP_BoardConfig/AP_BoardConfig.cpp#L110

Hope that helps :slight_smile:

3

Thank You!

Problem SOLVED. It was 3.4 dev version, downloaded 3.3 and it now going fine (I lost 5 hours :frowning: )

I think in 3.4 dev any functions in UserCode.cpp where not called. I dont know why, maybe its a bug?