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AP_SerialManager: added AP_SerialManager_config.h

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This commit is contained in:
Andrew Tridgell 2023-11-19 08:29:54 +11:00
parent a54503ae12
commit 0ae5c9116c
3 changed files with 161 additions and 140 deletions
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31
libraries/AP_SerialManager/AP_SerialManager.cpp
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@ -27,6 +27,37 @@
#include "AP_SerialManager.h" #include "AP_SerialManager.h"
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#ifndef HAL_HAVE_SERIAL0
#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
#endif
#ifndef HAL_HAVE_SERIAL1
#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
#endif
#ifndef HAL_HAVE_SERIAL2
#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
#endif
#ifndef HAL_HAVE_SERIAL3
#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
#endif
#ifndef HAL_HAVE_SERIAL4
#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
#endif
#ifndef HAL_HAVE_SERIAL5
#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
#endif
#ifndef HAL_HAVE_SERIAL6
#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
#endif
#ifndef HAL_HAVE_SERIAL7
#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
#endif
#ifndef HAL_HAVE_SERIAL8
#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
#endif
#ifndef HAL_HAVE_SERIAL9
#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#ifndef DEFAULT_SERIAL0_PROTOCOL #ifndef DEFAULT_SERIAL0_PROTOCOL

141
libraries/AP_SerialManager/AP_SerialManager.h
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@ -21,147 +21,8 @@
*/ */
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h> #include "AP_SerialManager_config.h"
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Networking/AP_Networking_Config.h>
#ifdef HAL_UART_NUM_SERIAL_PORTS
#if HAL_UART_NUM_SERIAL_PORTS >= 4
#define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
#else
// we need a minimum of 4 to allow for a GPS due to the odd ordering
// of hal.uartB as SERIAL3
#define SERIALMANAGER_NUM_PORTS 4
#endif
#else
// assume max 8 ports
#define SERIALMANAGER_NUM_PORTS 8
#endif
#ifndef HAL_NUM_SERIAL_PORTS
#define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS
#endif
#ifndef HAL_HAVE_SERIAL0
#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
#endif
#ifndef HAL_HAVE_SERIAL1
#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
#endif
#ifndef HAL_HAVE_SERIAL2
#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
#endif
#ifndef HAL_HAVE_SERIAL3
#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
#endif
#ifndef HAL_HAVE_SERIAL4
#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
#endif
#ifndef HAL_HAVE_SERIAL5
#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
#endif
#ifndef HAL_HAVE_SERIAL6
#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
#endif
#ifndef HAL_HAVE_SERIAL7
#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
#endif
#ifndef HAL_HAVE_SERIAL8
#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
#endif
#ifndef HAL_HAVE_SERIAL9
#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
#endif
/*
array size for state[]. This needs to be at least
SERIALMANAGER_NUM_PORTS, but we want it to be the same length on
similar boards to get the ccache efficiency up. This wastes a small
amount of memory, but makes a huge difference to the build times
*/
#if SERIALMANAGER_NUM_PORTS > 10 || SERIALMANAGER_NUM_PORTS < 5
#define SERIALMANAGER_MAX_PORTS SERIALMANAGER_NUM_PORTS
#else
#define SERIALMANAGER_MAX_PORTS 10
#endif
// console default baud rates and buffer sizes
#ifdef DEFAULT_SERIAL0_BAUD
#define AP_SERIALMANAGER_CONSOLE_BAUD DEFAULT_SERIAL0_BAUD
#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
// LTM buffer sizes
#define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0
#define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32
// 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_GIMBAL_BAUD 115200
#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128
#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX 128
#define AP_SERIALMANAGER_VOLZ_BAUD 115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX 128
// MegaSquirt EFI protocol
#define AP_SERIALMANAGER_EFI_MS_BAUD 115
#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX 512
#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX 16
// SBUS servo outputs
#define AP_SERIALMANAGER_SBUS1_BAUD 100000
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32
#define AP_SERIALMANAGER_SLCAN_BAUD 115200
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX 128
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX 128
// MSP protocol default buffer sizes
#define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128
#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
#define AP_SERIALMANAGER_MSP_BAUD 115200
#ifndef AP_SERIALMANAGER_REGISTER_ENABLED
#define AP_SERIALMANAGER_REGISTER_ENABLED AP_NETWORKING_ENABLED
#endif
// serial ports registered by AP_Networking will use IDs starting at 21 for the first port
#define AP_SERIALMANAGER_NET_PORT_1 21 // NET_P1_*
// serial ports registered by AP_DroneCAN will use IDs starting at 41/51 for the first port
#define AP_SERIALMANAGER_CAN_D1_PORT_1 41 // CAN_D1_UC_S1_*
#define AP_SERIALMANAGER_CAN_D2_PORT_1 51 // CAN_D2_UC_S1_*
class AP_SerialManager { class AP_SerialManager {
public: public:

129
libraries/AP_SerialManager/AP_SerialManager_config.h Normal file
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@ -0,0 +1,129 @@
/*
Please contribute your ideas! See https://ardupilot.org/dev 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 configuration defines
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Networking/AP_Networking_Config.h>
#ifdef HAL_UART_NUM_SERIAL_PORTS
#if HAL_UART_NUM_SERIAL_PORTS >= 4
#define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
#else
// we need a minimum of 4 to allow for a GPS due to the odd ordering
// of hal.uartB as SERIAL3
#define SERIALMANAGER_NUM_PORTS 4
#endif
#else
// assume max 8 ports
#define SERIALMANAGER_NUM_PORTS 8
#endif
#ifndef HAL_NUM_SERIAL_PORTS
#define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS
#endif
/*
array size for state[]. This needs to be at least
SERIALMANAGER_NUM_PORTS, but we want it to be the same length on
similar boards to get the ccache efficiency up. This wastes a small
amount of memory, but makes a huge difference to the build times
*/
#if SERIALMANAGER_NUM_PORTS > 10 || SERIALMANAGER_NUM_PORTS < 5
#define SERIALMANAGER_MAX_PORTS SERIALMANAGER_NUM_PORTS
#else
#define SERIALMANAGER_MAX_PORTS 10
#endif
#ifndef AP_SERIALMANAGER_REGISTER_ENABLED
#define AP_SERIALMANAGER_REGISTER_ENABLED AP_NETWORKING_ENABLED
#endif
// serial ports registered by AP_Networking will use IDs starting at 21 for the first port
#define AP_SERIALMANAGER_NET_PORT_1 21 // NET_P1_*
// serial ports registered by AP_DroneCAN will use IDs starting at 41/51 for the first port
#define AP_SERIALMANAGER_CAN_D1_PORT_1 41 // CAN_D1_UC_S1_*
#define AP_SERIALMANAGER_CAN_D2_PORT_1 51 // CAN_D2_UC_S1_*
// console default baud rates and buffer sizes
#ifdef DEFAULT_SERIAL0_BAUD
#define AP_SERIALMANAGER_CONSOLE_BAUD DEFAULT_SERIAL0_BAUD
#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
// LTM buffer sizes
#define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0
#define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32
// 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_GIMBAL_BAUD 115200
#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128
#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX 128
#define AP_SERIALMANAGER_VOLZ_BAUD 115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX 128
// MegaSquirt EFI protocol
#define AP_SERIALMANAGER_EFI_MS_BAUD 115
#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX 512
#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX 16
// SBUS servo outputs
#define AP_SERIALMANAGER_SBUS1_BAUD 100000
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32
#define AP_SERIALMANAGER_SLCAN_BAUD 115200
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX 128
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX 128
// MSP protocol default buffer sizes
#define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128
#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
#define AP_SERIALMANAGER_MSP_BAUD 115200