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https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
AP_SerialManager: added AP_SerialManager_config.h
This commit is contained in:
Andrew Tridgell
parent
a54503ae12
commit
0ae5c9116c
@ -27,6 +27,37 @@
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#include "AP_SerialManager.h"
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#include <GCS_MAVLink/GCS.h>
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#ifndef HAL_HAVE_SERIAL0
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#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
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#endif
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#ifndef HAL_HAVE_SERIAL1
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#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
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#endif
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#ifndef HAL_HAVE_SERIAL2
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#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
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#endif
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#ifndef HAL_HAVE_SERIAL3
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#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
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#endif
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#ifndef HAL_HAVE_SERIAL4
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#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
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#endif
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#ifndef HAL_HAVE_SERIAL5
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#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
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#endif
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#ifndef HAL_HAVE_SERIAL6
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#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
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#endif
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#ifndef HAL_HAVE_SERIAL7
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#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
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#endif
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#ifndef HAL_HAVE_SERIAL8
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#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
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#endif
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#ifndef HAL_HAVE_SERIAL9
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#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
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#endif
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extern const AP_HAL::HAL& hal;
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#ifndef DEFAULT_SERIAL0_PROTOCOL
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@ -21,147 +21,8 @@
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_SerialManager_config.h"
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#include <AP_Param/AP_Param.h>
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#include <AP_Networking/AP_Networking_Config.h>
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#ifdef HAL_UART_NUM_SERIAL_PORTS
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#if HAL_UART_NUM_SERIAL_PORTS >= 4
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#define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
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#else
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// we need a minimum of 4 to allow for a GPS due to the odd ordering
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// of hal.uartB as SERIAL3
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#define SERIALMANAGER_NUM_PORTS 4
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#endif
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#else
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// assume max 8 ports
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#define SERIALMANAGER_NUM_PORTS 8
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#endif
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#ifndef HAL_NUM_SERIAL_PORTS
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#define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS
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#endif
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#ifndef HAL_HAVE_SERIAL0
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#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
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#endif
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#ifndef HAL_HAVE_SERIAL1
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#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
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#endif
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#ifndef HAL_HAVE_SERIAL2
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#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
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#endif
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#ifndef HAL_HAVE_SERIAL3
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#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
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#endif
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#ifndef HAL_HAVE_SERIAL4
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#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
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#endif
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#ifndef HAL_HAVE_SERIAL5
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#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
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#endif
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#ifndef HAL_HAVE_SERIAL6
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#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
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#endif
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#ifndef HAL_HAVE_SERIAL7
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#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
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#endif
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#ifndef HAL_HAVE_SERIAL8
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#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
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#endif
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#ifndef HAL_HAVE_SERIAL9
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#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
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#endif
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/*
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array size for state[]. This needs to be at least
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SERIALMANAGER_NUM_PORTS, but we want it to be the same length on
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similar boards to get the ccache efficiency up. This wastes a small
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amount of memory, but makes a huge difference to the build times
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*/
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#if SERIALMANAGER_NUM_PORTS > 10 || SERIALMANAGER_NUM_PORTS < 5
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#define SERIALMANAGER_MAX_PORTS SERIALMANAGER_NUM_PORTS
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#else
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#define SERIALMANAGER_MAX_PORTS 10
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#endif
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// console default baud rates and buffer sizes
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#ifdef DEFAULT_SERIAL0_BAUD
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#define AP_SERIALMANAGER_CONSOLE_BAUD DEFAULT_SERIAL0_BAUD
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#else
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#define AP_SERIALMANAGER_CONSOLE_BAUD 115200
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#endif
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#define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX 512
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// mavlink default baud rates and buffer sizes
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#define AP_SERIALMANAGER_MAVLINK_BAUD 57600
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#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256
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// LTM buffer sizes
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#define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0
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#define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32
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// FrSky default baud rates, use default buffer sizes
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#define AP_SERIALMANAGER_FRSKY_D_BAUD 9600
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#define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600
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#define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX 0
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#define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX 0
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// GPS default baud rates and buffer sizes
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// we need a 256 byte buffer for some GPS types (eg. UBLOX)
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#define AP_SERIALMANAGER_GPS_BAUD 38400
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#define AP_SERIALMANAGER_GPS_BUFSIZE_RX 256
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#define AP_SERIALMANAGER_GPS_BUFSIZE_TX 16
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// AlexMos Gimbal protocol default baud rates and buffer sizes
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#define AP_SERIALMANAGER_ALEXMOS_BAUD 115200
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#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_GIMBAL_BAUD 115200
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#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_VOLZ_BAUD 115
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#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX 128
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// MegaSquirt EFI protocol
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#define AP_SERIALMANAGER_EFI_MS_BAUD 115
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#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX 512
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#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX 16
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// SBUS servo outputs
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#define AP_SERIALMANAGER_SBUS1_BAUD 100000
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#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16
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#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32
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#define AP_SERIALMANAGER_SLCAN_BAUD 115200
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#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX 128
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// MSP protocol default buffer sizes
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#define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
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#define AP_SERIALMANAGER_MSP_BAUD 115200
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#ifndef AP_SERIALMANAGER_REGISTER_ENABLED
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#define AP_SERIALMANAGER_REGISTER_ENABLED AP_NETWORKING_ENABLED
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#endif
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// serial ports registered by AP_Networking will use IDs starting at 21 for the first port
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#define AP_SERIALMANAGER_NET_PORT_1 21 // NET_P1_*
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// serial ports registered by AP_DroneCAN will use IDs starting at 41/51 for the first port
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#define AP_SERIALMANAGER_CAN_D1_PORT_1 41 // CAN_D1_UC_S1_*
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#define AP_SERIALMANAGER_CAN_D2_PORT_1 51 // CAN_D2_UC_S1_*
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class AP_SerialManager {
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public:
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129
libraries/AP_SerialManager/AP_SerialManager_config.h
Normal file
129
libraries/AP_SerialManager/AP_SerialManager_config.h
Normal file
@ -0,0 +1,129 @@
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/*
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Please contribute your ideas! See https://ardupilot.org/dev for details
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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SerialManager configuration defines
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Networking/AP_Networking_Config.h>
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#ifdef HAL_UART_NUM_SERIAL_PORTS
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#if HAL_UART_NUM_SERIAL_PORTS >= 4
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#define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
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#else
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// we need a minimum of 4 to allow for a GPS due to the odd ordering
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// of hal.uartB as SERIAL3
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#define SERIALMANAGER_NUM_PORTS 4
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#endif
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#else
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// assume max 8 ports
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#define SERIALMANAGER_NUM_PORTS 8
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#endif
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#ifndef HAL_NUM_SERIAL_PORTS
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#define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS
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#endif
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/*
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array size for state[]. This needs to be at least
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SERIALMANAGER_NUM_PORTS, but we want it to be the same length on
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similar boards to get the ccache efficiency up. This wastes a small
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amount of memory, but makes a huge difference to the build times
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*/
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#if SERIALMANAGER_NUM_PORTS > 10 || SERIALMANAGER_NUM_PORTS < 5
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#define SERIALMANAGER_MAX_PORTS SERIALMANAGER_NUM_PORTS
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#else
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#define SERIALMANAGER_MAX_PORTS 10
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#endif
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#ifndef AP_SERIALMANAGER_REGISTER_ENABLED
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#define AP_SERIALMANAGER_REGISTER_ENABLED AP_NETWORKING_ENABLED
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#endif
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// serial ports registered by AP_Networking will use IDs starting at 21 for the first port
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#define AP_SERIALMANAGER_NET_PORT_1 21 // NET_P1_*
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// serial ports registered by AP_DroneCAN will use IDs starting at 41/51 for the first port
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#define AP_SERIALMANAGER_CAN_D1_PORT_1 41 // CAN_D1_UC_S1_*
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#define AP_SERIALMANAGER_CAN_D2_PORT_1 51 // CAN_D2_UC_S1_*
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// console default baud rates and buffer sizes
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#ifdef DEFAULT_SERIAL0_BAUD
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#define AP_SERIALMANAGER_CONSOLE_BAUD DEFAULT_SERIAL0_BAUD
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#else
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#define AP_SERIALMANAGER_CONSOLE_BAUD 115200
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#endif
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#define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX 512
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// mavlink default baud rates and buffer sizes
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#define AP_SERIALMANAGER_MAVLINK_BAUD 57600
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#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256
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// LTM buffer sizes
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#define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0
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#define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32
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// FrSky default baud rates, use default buffer sizes
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#define AP_SERIALMANAGER_FRSKY_D_BAUD 9600
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#define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600
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#define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX 0
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#define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX 0
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// GPS default baud rates and buffer sizes
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// we need a 256 byte buffer for some GPS types (eg. UBLOX)
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#define AP_SERIALMANAGER_GPS_BAUD 38400
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#define AP_SERIALMANAGER_GPS_BUFSIZE_RX 256
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#define AP_SERIALMANAGER_GPS_BUFSIZE_TX 16
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// AlexMos Gimbal protocol default baud rates and buffer sizes
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#define AP_SERIALMANAGER_ALEXMOS_BAUD 115200
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#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_GIMBAL_BAUD 115200
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#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_VOLZ_BAUD 115
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#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX 128
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// MegaSquirt EFI protocol
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#define AP_SERIALMANAGER_EFI_MS_BAUD 115
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#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX 512
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#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX 16
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// SBUS servo outputs
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#define AP_SERIALMANAGER_SBUS1_BAUD 100000
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#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16
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#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32
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#define AP_SERIALMANAGER_SLCAN_BAUD 115200
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#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX 128
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// MSP protocol default buffer sizes
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#define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
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#define AP_SERIALMANAGER_MSP_BAUD 115200
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