ardupilot/libraries/AP_SerialManager/AP_SerialManager.h

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/*
Please contribute your ideas! See http://dev.ardupilot.org 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
*/
#pragma once
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#define SERIALMANAGER_NUM_PORTS 6
// console default baud rates and buffer sizes
#ifdef HAL_SERIAL0_BAUD_DEFAULT
# define AP_SERIALMANAGER_CONSOLE_BAUD HAL_SERIAL0_BAUD_DEFAULT
#else
# define AP_SERIALMANAGER_CONSOLE_BAUD 115200
#endif
# define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX 128
# define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX 512
// mavlink default baud rates and buffer sizes
#define AP_SERIALMANAGER_MAVLINK_BAUD 57600
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256
// FrSky default baud rates, use default buffer sizes
#define AP_SERIALMANAGER_FRSKY_D_BAUD 9600
#define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600
#define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX 0
#define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX 0
// GPS default baud rates and buffer sizes
// we need a 256 byte buffer for some GPS types (eg. UBLOX)
#define AP_SERIALMANAGER_GPS_BAUD 38400
#define AP_SERIALMANAGER_GPS_BUFSIZE_RX 256
#define AP_SERIALMANAGER_GPS_BUFSIZE_TX 16
// AlexMos Gimbal protocol default baud rates and buffer sizes
#define AP_SERIALMANAGER_ALEXMOS_BAUD 115200
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128
#define AP_SERIALMANAGER_SToRM32_BAUD 115200
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_RX 128
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_TX 128
// Aerotenne uLanding Altimeter
// Note that size of UART FIFO is 128 for Altera-OcPoc board
#define AP_SERIALMANAGER_ULANDING_BAUD 115200
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_TX 128
#define AP_SERIALMANAGER_VOLZ_BAUD 115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
// SBUS servo outputs
#define AP_SERIALMANAGER_SBUS1_BAUD 100000
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32
class AP_SerialManager {
public:
enum SerialProtocol {
SerialProtocol_None = -1,
SerialProtocol_Console = 0, // unused
SerialProtocol_MAVLink = 1,
SerialProtocol_MAVLink2 = 2, // do not use - use MAVLink and provide instance of 1
SerialProtocol_FrSky_D = 3, // FrSky D protocol (D-receivers)
SerialProtocol_FrSky_SPort = 4, // FrSky SPort protocol (X-receivers)
SerialProtocol_GPS = 5,
SerialProtocol_GPS2 = 6, // do not use - use GPS and provide instance of 1
SerialProtocol_AlexMos = 7,
SerialProtocol_SToRM32 = 8,
SerialProtocol_Lidar = 9,
SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2
SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support
SerialProtocol_Beacon = 13,
SerialProtocol_Volz = 14, // Volz servo protocol
SerialProtocol_Sbus1 = 15
};
// get singleton instance
static AP_SerialManager *get_instance(void) {
return _instance;
}
static AP_SerialManager create() { return AP_SerialManager{}; }
constexpr AP_SerialManager(AP_SerialManager &&other) = default;
/* Do not allow copies */
AP_SerialManager(const AP_SerialManager &other) = delete;
AP_SerialManager &operator=(const AP_SerialManager&) = delete;
// init_console - initialise console at default baud rate
void init_console();
// init - initialise serial ports
void init();
// find_serial - searches available serial ports that allows the given protocol
// instance should be zero if searching for the first instance, 1 for the second, etc
// returns uart on success, nullptr if a serial port cannot be found
AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol, uint8_t instance) const;
// 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 the baudrate of that protocol on success, 0 if a serial port cannot be found
uint32_t find_baudrate(enum SerialProtocol protocol, uint8_t instance) const;
// get_mavlink_channel - provides the mavlink channel associated with a given protocol (and instance)
// 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 get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const;
// get_mavlink_protocol - provides the specific MAVLink protocol for a
// given channel, or SerialProtocol_None if not found
SerialProtocol get_mavlink_protocol(mavlink_channel_t mav_chan) const;
// set_blocking_writes_all - sets block_writes on or off for all serial channels
void set_blocking_writes_all(bool blocking);
// set_console_baud - sets the console's baud rate to the rate specified by the protocol
void set_console_baud(enum SerialProtocol protocol, uint8_t instance) const;
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
private:
AP_SerialManager();
static AP_SerialManager *_instance;
// array of uart info
struct {
AP_Int8 protocol;
AP_Int32 baud;
AP_HAL::UARTDriver* uart;
} state[SERIALMANAGER_NUM_PORTS];
uint32_t map_baudrate(int32_t rate) const;
// protocol_match - returns true if the protocols match
bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;
};