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AP_Periph: add Networking-UART passthrough

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This commit is contained in:
Tom Pittenger 2023-11-22 16:10:55 -08:00 committed by Andrew Tridgell
parent 8ab3ad2777
commit 0b60777db6
6 changed files with 321 additions and 6 deletions
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4
Tools/AP_Periph/AP_Periph.cpp
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@ -101,7 +101,7 @@ void AP_Periph_FW::init()
can_start();
#ifdef HAL_PERIPH_ENABLE_NETWORKING
networking.init();
networking_periph.init();
#endif
#if HAL_GCS_ENABLED
@ -502,7 +502,7 @@ void AP_Periph_FW::update()
can_update();
#ifdef HAL_PERIPH_ENABLE_NETWORKING
networking.update();
networking_periph.update();
#endif
#if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || defined(HAL_PERIPH_ENABLE_NOTIFY)

3
Tools/AP_Periph/AP_Periph.h
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@ -36,6 +36,7 @@
#include <AP_RCProtocol/AP_RCProtocol_config.h>
#include "rc_in.h"
#include "batt_balance.h"
#include "networking.h"
#include <AP_NMEA_Output/AP_NMEA_Output.h>
#if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
@ -356,7 +357,7 @@ public:
#endif
#ifdef HAL_PERIPH_ENABLE_NETWORKING
AP_Networking networking;
Networking_Periph networking_periph;
#endif
#ifdef HAL_PERIPH_ENABLE_RTC

4
Tools/AP_Periph/Parameters.cpp
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@ -588,8 +588,8 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
#ifdef HAL_PERIPH_ENABLE_NETWORKING
// @Group: NET_
// @Path: ../libraries/AP_Networking/AP_Networking.cpp
GOBJECT(networking, "NET_", AP_Networking),
// @Path: networking.cpp
GOBJECT(networking_periph, "NET_", Networking_Periph),
#endif
#ifdef HAL_PERIPH_ENABLE_RPM

2
Tools/AP_Periph/Parameters.h
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@ -76,7 +76,7 @@ public:
k_param_esc_number1,
k_param_pole_count1,
k_param_esc_serial_port1,
k_param_networking,
k_param_networking_periph,
k_param_rpm_sensor,
k_param_g_rcin,
k_param_sitl,

261
Tools/AP_Periph/networking.cpp Normal file
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@ -0,0 +1,261 @@
/*
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/>.
*/
#include "AP_Periph.h"
#ifdef HAL_PERIPH_ENABLE_NETWORKING
#include <AP_SerialManager/AP_SerialManager.h>
extern const AP_HAL::HAL &hal;
const AP_Param::GroupInfo Networking_Periph::var_info[] {
// @Group:
// @Path: ../../libraries/AP_Networking/AP_Networking.cpp
AP_SUBGROUPINFO(networking_lib, "", 1, Networking_Periph, AP_Networking),
/*
the NET_Pn_ parameters need to be here as otherwise we
are too deep in the parameter tree
*/
#if AP_NETWORKING_NUM_PORTS > 0
// @Group: P1_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[0], "P1_", 2, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 1
// @Group: P2_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[1], "P2_", 3, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 2
// @Group: P3_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[2], "P3_", 4, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 3
// @Group: P4_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[3], "P4_", 5, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 4
// @Group: P5_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[4], "P5_", 6, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 5
// @Group: P6_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[5], "P6_", 7, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 6
// @Group: P7_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[6], "P7_", 8, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 7
// @Group: P8_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[7], "P8_", 9, Networking_Periph, AP_Networking::Port),
#endif
#if AP_NETWORKING_NUM_PORTS > 8
// @Group: P9_
// @Path: ../../libraries/AP_Networking/AP_Networking_port.cpp
AP_SUBGROUPINFO(networking_lib.ports[8], "P9_", 10, Networking_Periph, AP_Networking::Port),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
// @Group: PASS1_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[0], "PASS1_", 11, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 1
// @Group: PASS2_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[1], "PASS2_", 12, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 2
// @Group: PASS3_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[2], "PASS3_", 13, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 3
// @Group: PASS4_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[3], "PASS4_", 14, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 4
// @Group: PASS5_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[4], "PASS5_", 15, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 5
// @Group: PASS6_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[5], "PASS6_", 16, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 6
// @Group: PASS7_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[6], "PASS7_", 17, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 7
// @Group: PASS8_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[7], "PASS8_", 18, Networking_Periph, Passthru),
#endif
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 8
// @Group: PASS9_
// @Path: networking_passthru.cpp
AP_SUBGROUPINFO(passthru[8], "PASS9_", 19, Networking_Periph, Passthru),
#endif
AP_GROUPEND
};
const AP_Param::GroupInfo Networking_Periph::Passthru::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable Passthrough
// @Description: Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
// @Values: 0:Disabled, 1:Enabled
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, Networking_Periph::Passthru, enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: EP1
// @DisplayName: Endpoint 1
// @Description: Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
// @Values: -1:Disabled, 0:Serial0(usually USB), 1:Serial1, 2:Serial2, 3:Serial3, 4:Serial4, 5:Serial5, 6:Serial6, 7:Serial7, 8:Serial8, 9:Serial9, 21:Network Port1, 22:Network Port2, 23:Network Port3, 24:Network Port4, 25:Network Port5, 26:Network Port6, 27:Network Port7, 28:Network Port8, 29:Network Port9, 41:CAN1 Port1, 42:CAN1 Port2, 43:CAN1 Port3, 44:CAN1 Port4, 45:CAN1 Port5, 46:CAN1 Port6, 47:CAN1 Port7, 48:CAN1 Port8, 49:CAN1 Port9, 51:CAN2 Port1, 52:CAN2 Port2, 53:CAN2 Port3, 54:CAN2 Port4, 55:CAN2 Port5, 56:CAN2 Port6, 57:CAN2 Port7, 58:CAN2 Port8, 59:CAN2 Port9
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("EP1", 2, Networking_Periph::Passthru, ep1, -1),
// @Param: EP2
// @DisplayName: Endpoint 2
// @Description: Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
// @CopyFieldsFrom: NET_PASS1_EP1
AP_GROUPINFO("EP2", 3, Networking_Periph::Passthru, ep2, -1),
// @Param: BAUD1
// @DisplayName: Endpoint 1 Baud Rate
// @Description: The baud rate used for Endpoint 1. Only applies to serial ports.
// @CopyFieldsFrom: SERIAL1_BAUD
AP_GROUPINFO("BAUD1", 4, Networking_Periph::Passthru, baud1, 115200),
// @Param: BAUD2
// @DisplayName: Endpoint 2 Baud Rate
// @Description: The baud rate used for Endpoint 2. Only applies to serial ports.
// @CopyFieldsFrom: SERIAL1_BAUD
AP_GROUPINFO("BAUD2", 5, Networking_Periph::Passthru, baud2, 115200),
// @Param: OPT1
// @DisplayName: Serial Port Options EP1
// @Description: Control over UART options for Endpoint 1. Only applies to serial ports.
// @CopyFieldsFrom: SERIAL1_OPTIONS
AP_GROUPINFO("OPT1", 6, Networking_Periph::Passthru, options1, 0),
// @Param: OPT2
// @DisplayName: Serial Port Options EP2
// @Description: Control over UART options for Endpoint 2. Only applies to serial ports.
// @CopyFieldsFrom: SERIAL1_OPTIONS
AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0),
AP_GROUPEND
};
void Networking_Periph::init(void)
{
networking_lib.init();
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
auto &serial_manager = AP::serialmanager();
for (auto &p : passthru) {
if (p.enabled != 0 && p.port1 == nullptr && p.port2 == nullptr &&
p.ep1 != -1 && p.ep2 != -1 && p.ep1 != p.ep2) {
p.port1 = serial_manager.get_serial_by_id(p.ep1);
p.port2 = serial_manager.get_serial_by_id(p.ep2);
if (p.port1 != nullptr && p.port2 != nullptr) {
p.port1->set_options(p.options1);
p.port1->begin(p.baud1);
p.port2->set_options(p.options2);
p.port2->begin(p.baud2);
}
}
}
#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
}
void Networking_Periph::update(void)
{
networking_lib.update();
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
for (auto &p : passthru) {
if (p.enabled == 0 || p.port1 == nullptr || p.port2 == nullptr) {
continue;
}
uint8_t buf[1024];
// read from port1, and write to port2
auto avail = p.port1->available();
if (avail > 0) {
auto space = p.port2->txspace();
const uint32_t n = MIN(space, sizeof(buf));
const auto nbytes = p.port1->read(buf, n);
if (nbytes > 0) {
p.port2->write(buf, nbytes);
}
}
// read from port2, and write to port1
avail = p.port2->available();
if (avail > 0) {
auto space = p.port1->txspace();
const uint32_t n = MIN(space, sizeof(buf));
const auto nbytes = p.port2->read(buf, n);
if (nbytes > 0) {
p.port1->write(buf, nbytes);
}
}
}
#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
}
#endif // HAL_PERIPH_ENABLE_NETWORKING

53
Tools/AP_Periph/networking.h Normal file
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@ -0,0 +1,53 @@
#pragma once
#ifdef HAL_PERIPH_ENABLE_NETWORKING
#ifndef HAL_PERIPH_NETWORK_NUM_PASSTHRU
#define HAL_PERIPH_NETWORK_NUM_PASSTHRU 2
#endif
class Networking_Periph {
public:
Networking_Periph() {
AP_Param::setup_object_defaults(this, var_info);
}
static const struct AP_Param::GroupInfo var_info[];
void init();
void update();
private:
#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
class Passthru {
public:
friend class Networking_Periph;
CLASS_NO_COPY(Passthru);
Passthru() {
AP_Param::setup_object_defaults(this, var_info);
}
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Int8 enabled;
AP_Int8 ep1;
AP_Int8 ep2;
AP_Int32 baud1;
AP_Int32 baud2;
AP_Int32 options1;
AP_Int32 options2;
AP_HAL::UARTDriver *port1;
AP_HAL::UARTDriver *port2;
} passthru[HAL_PERIPH_NETWORK_NUM_PASSTHRU];
#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
AP_Networking networking_lib;
};
#endif // HAL_PERIPH_ENABLE_BATTERY_BALANCE