ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
   Please contribute your ideas! See http://dev.ardupilot.com for details

   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  SerialManager allows defining the protocol and baud rates for the available
  serial ports and provides helper functions so objects (like a gimbal) can
  find which serial port they should use
 */

#include <AP_HAL.h>
#include <AP_SerialManager.h>

extern const AP_HAL::HAL& hal;

const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
    // @Param: 0_BAUD
    // @DisplayName: Serial0 baud rate
    // @Description: The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
    // @User: Standard
    AP_GROUPINFO("0_BAUD",  0, AP_SerialManager, state[0].baud, AP_SERIALMANAGER_CONSOLE_BAUD/1000),

    // @Param: 1_PROTOCOL
    // @DisplayName: Telem1 protocol selection
    // @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
    // @User: Standard
    AP_GROUPINFO("1_PROTOCOL",  1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),

    // @Param: 1_BAUD
    // @DisplayName: Telem1 Baud Rate
    // @Description: The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
    // @User: Standard
    AP_GROUPINFO("1_BAUD", 2, AP_SerialManager, state[1].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000),

    // @Param: 2_PROTOCOL
    // @DisplayName: Telemetry 2 protocol selection
    // @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
    // @User: Standard
    AP_GROUPINFO("2_PROTOCOL",  3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),

    // @Param: 2_BAUD
    // @DisplayName: Telemetry 2 Baud Rate
    // @Description: The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
    // @User: Standard
    AP_GROUPINFO("2_BAUD", 4, AP_SerialManager, state[2].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000),

    // @Param: 3_PROTOCOL
    // @DisplayName: Serial 3 (GPS) protocol selection
    // @Description: Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
    // @User: Standard
    AP_GROUPINFO("3_PROTOCOL",  5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),

    // @Param: 3_BAUD
    // @DisplayName: Serial 3 (GPS) Baud Rate
    // @Description: The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
    // @User: Standard
    AP_GROUPINFO("3_BAUD", 6, AP_SerialManager, state[3].baud, AP_SERIALMANAGER_GPS_BAUD/1000),

    // @Param: 4_PROTOCOL
    // @DisplayName: Serial4 protocol selection
    // @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
    // @User: Standard
    AP_GROUPINFO("4_PROTOCOL",  7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),

    // @Param: 4_BAUD
    // @DisplayName: Serial 4 Baud Rate
    // @Description: The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
    // @User: Standard
    AP_GROUPINFO("4_BAUD", 8, AP_SerialManager, state[4].baud, AP_SERIALMANAGER_GPS_BAUD/1000),

    AP_GROUPEND
};

// Constructor
AP_SerialManager::AP_SerialManager()
{
    // setup parameter defaults
    AP_Param::setup_object_defaults(this, var_info);
}

// init_console - initialise console at default baud rate
void AP_SerialManager::init_console()
{
    // initialise console immediately at default size and baud
    state[0].protocol = SerialProtocol_Console; // protocol is unused for console
    state[0].uart = hal.uartA;  // serial0, uartA, always console
    state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD,
                         AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
                         AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
}

// init - // init - initialise serial ports
void AP_SerialManager::init()
{
    // initialise pointers to serial ports
    state[1].uart = hal.uartC;  // serial1, uartC, normally telem1
    state[2].uart = hal.uartD;  // serial2, uartD, normally telem2
    state[3].uart = hal.uartB;  // serial3, uartB, normally 1st GPS
    state[4].uart = hal.uartE;  // serial4, uartE, normally 2nd GPS

    // initialise serial ports
    for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
        if (state[i].uart != NULL) {
            switch (state[i].protocol) {
                case SerialProtocol_Console:
                    state[i].uart->begin(map_baudrate(state[i].baud), 
                                         AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX, 
                                         AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
                    break;
                case SerialProtocol_MAVLink:
                case SerialProtocol_MAVLink2:
                    state[i].uart->begin(map_baudrate(state[i].baud), 
                                         AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX,
                                         AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX);
                    break;
                case SerialProtocol_FRSky_DPort:
                    // Note baudrate is hardcoded to 57600
                    state[i].baud = AP_SERIALMANAGER_FRSKY_DPORT_BAUD/1000; // update baud param in case user looks at it
                    state[i].uart->begin(AP_SERIALMANAGER_FRSKY_DPORT_BAUD, 
                                         AP_SERIALMANAGER_FRSKY_BUFSIZE_RX, 
                                         AP_SERIALMANAGER_FRSKY_BUFSIZE_TX);
                    break;
                case SerialProtocol_FRSky_SPort:
                    // Note baudrate is hardcoded to 9600
                    state[i].baud = AP_SERIALMANAGER_FRSKY_SPORT_BAUD/1000; // update baud param in case user looks at it
                    // begin is handled by AP_Frsky_telem library
                    break;
                case SerialProtocol_GPS:
                case SerialProtocol_GPS2:
                    state[i].uart->begin(map_baudrate(state[i].baud), 
                                         AP_SERIALMANAGER_GPS_BUFSIZE_RX,
                                         AP_SERIALMANAGER_GPS_BUFSIZE_TX);
                    break;
                case SerialProtocol_AlexMos:
                    // Note baudrate is hardcoded to 115200
                    state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000;   // update baud param in case user looks at it
                    state[i].uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD, 
                                         AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX,
                                         AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX);
                    break;
            }
        }
    }
}

// find_serial - searches available serial ports for the first instance that allows the given protocol
//  instance should be zero if searching for the first instance, 1 for the second, etc
//  returns uart on success, NULL if a serial port cannot be found
AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol, uint8_t instance) const
{
    uint8_t found_instance = 0;

    // search for matching protocol
    for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
        if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
            if (found_instance == instance) {
                return state[i].uart;
            }
            found_instance++;
        }
    }

    // if we got this far we did not find the uart
    return NULL;
}

// find_baudrate - searches available serial ports for the first instance that allows the given protocol
//  instance should be zero if searching for the first instance, 1 for the second, etc
//  returns baudrate on success, 0 if a serial port cannot be found
uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t instance) const
{
    uint8_t found_instance = 0;

    // search for matching protocol
    for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
        if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
            if (found_instance == instance) {
                return map_baudrate(state[i].baud);
            }
            found_instance++;
        }
    }

    // if we got this far we did not find the uart
    return 0;
}

// get_mavlink_channel - provides the mavlink channel associated with a given protocol
//  instance should be zero if searching for the first instance, 1 for the second, etc
//  returns true if a channel is found, false if not
bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const
{
    // check for console
    if (protocol == SerialProtocol_Console) {
        mav_chan = MAVLINK_COMM_0;
        return true;
    }

    // check for MAVLink
    if (protocol_match(protocol, SerialProtocol_MAVLink)) {
        if (instance == 0) {
            mav_chan = MAVLINK_COMM_1;
            return true;
        }
        if (instance == 1) {
            mav_chan = MAVLINK_COMM_2;
            return true;
        }
    }

    // report failure
    return false;
}

// set_blocking_writes_all - sets block_writes on or off for all serial channels
void AP_SerialManager::set_blocking_writes_all(bool blocking)
{
    // set block_writes for all initialised serial ports
    for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
        if (state[i].uart != NULL) {
            state[i].uart->set_blocking_writes(blocking);
        }
    }
}

// set_console_baud - sets the console's baud rate to the rate specified by the protocol
//  used on APM2 to switch the console between the console baud rate (115200) and the SERIAL1 baud rate (user configurable)
void AP_SerialManager::set_console_baud(enum SerialProtocol protocol, uint8_t instance) const
{
    uint8_t found_instance = 0;

    // find baud rate of this protocol
    for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
        if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
            if (instance == found_instance) {
                // set console's baud rate
                state[0].uart->begin(map_baudrate(state[i].baud));
                return;
            }
            found_instance++;
        }
    }
}

/*
 *  map from a 16 bit EEPROM baud rate to a real baud rate
 * The practical rates for APM1/APM2 are up to 500kbaud, although
 * beyond 115200 isn't recommended. For PX4 we can do 1.5MBit,
 * although 921600 is more reliable
 */
uint32_t AP_SerialManager::map_baudrate(int32_t rate) const
{
    if (rate <= 0) {
        rate = 57;
    }
    switch (rate) {
    case 1:    return 1200;
    case 2:    return 2400;
    case 4:    return 4800;
    case 9:    return 9600;
    case 19:   return 19200;
    case 38:   return 38400;
    case 57:   return 57600;
    case 100:  return 100000;
    case 111:  return 111100;
    case 115:  return 115200;
    case 230:  return 230400;
    case 460:  return 460800;
    case 500:  return 500000;
    case 921:  return 921600;
    case 1500:  return 1500000;
    }

    if (rate > 2000) {
        // assume it is a direct baudrate. This allows for users to
        // set an exact baudrate as long as it is over 2000 baud
        return (uint32_t)rate;
    }

    // otherwise allow any other kbaud rate
    return rate*1000;
}

// protocol_match - returns true if the protocols match
bool AP_SerialManager::protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const
{
    // check for obvious match
    if (protocol1 == protocol2) {
        return true;
    }

    // mavlink match
    if (((protocol1 == SerialProtocol_MAVLink) || (protocol1 == SerialProtocol_MAVLink2)) &&
        ((protocol2 == SerialProtocol_MAVLink) || (protocol2 == SerialProtocol_MAVLink2))) {
        return true;
    }

    // gps match
    if (((protocol1 == SerialProtocol_GPS) || (protocol1 == SerialProtocol_GPS2)) &&
        ((protocol2 == SerialProtocol_GPS) || (protocol2 == SerialProtocol_GPS2))) {
        return true;
    }

    return false;
}