mirror of https://github.com/ArduPilot/ardupilot
AP_SerialManager: added SERIAL5_* support
This commit is contained in:
Andrew Tridgell
parent
6120631977
commit
0baf8ee2eb
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@ -27,11 +27,11 @@
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extern const AP_HAL::HAL& hal;
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
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#define SERIAL4_PROTOCOL SerialProtocol_MAVLink
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#define SERIAL4_BAUD 921600
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#define SERIAL5_PROTOCOL SerialProtocol_MAVLink
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#define SERIAL5_BAUD 921600
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#else
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#define SERIAL4_PROTOCOL SerialProtocol_GPS
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#define SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000
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#define SERIAL5_PROTOCOL SerialProtocol_None
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#define SERIAL5_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
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#endif
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@ -46,7 +46,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
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// @Param: 1_PROTOCOL
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// @DisplayName: Telem1 protocol selection
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// @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @Values: -1:None, 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @User: Standard
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AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
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@ -60,7 +60,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
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// @Param: 2_PROTOCOL
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// @DisplayName: Telemetry 2 protocol selection
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// @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @Values: -1:None, 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @User: Standard
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AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),
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@ -74,7 +74,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
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// @Param: 3_PROTOCOL
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// @DisplayName: Serial 3 (GPS) protocol selection
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// @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.
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// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @Values: -1:None, 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @User: Standard
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AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
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@ -88,16 +88,30 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
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// @Param: 4_PROTOCOL
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// @DisplayName: Serial4 protocol selection
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// @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @Values: -1:None, 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @User: Standard
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AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SERIAL4_PROTOCOL),
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AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS2),
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// @Param: 4_BAUD
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// @DisplayName: Serial 4 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("4_BAUD", 8, AP_SerialManager, state[4].baud, SERIAL4_BAUD),
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AP_GROUPINFO("4_BAUD", 8, AP_SerialManager, state[4].baud, AP_SERIALMANAGER_GPS_BAUD/1000),
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// @Param: 5_PROTOCOL
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// @DisplayName: Serial4 protocol selection
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// @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @Values: -1:None, 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
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// @User: Standard
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AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
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// @Param: 5_BAUD
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// @DisplayName: Serial 4 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("5_BAUD", 10, AP_SerialManager, state[5].baud, SERIAL5_BAUD),
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AP_GROUPEND
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};
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@ -128,11 +142,14 @@ void AP_SerialManager::init()
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state[2].uart = hal.uartD; // serial2, uartD, normally telem2
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state[3].uart = hal.uartB; // serial3, uartB, normally 1st GPS
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state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS
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state[5].uart = hal.uartF; // serial5
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// initialise serial ports
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for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
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if (state[i].uart != NULL) {
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switch (state[i].protocol) {
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case SerialProtocol_None:
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break;
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case SerialProtocol_Console:
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
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@ -27,7 +27,7 @@
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#include <AP_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#define SERIALMANAGER_NUM_PORTS 5
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#define SERIALMANAGER_NUM_PORTS 6
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// console default baud rates and buffer sizes
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#ifdef HAL_SERIAL0_BAUD_DEFAULT
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@ -70,6 +70,7 @@ class AP_SerialManager {
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public:
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enum SerialProtocol {
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SerialProtocol_None = -1,
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SerialProtocol_Console = 0,
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SerialProtocol_MAVLink = 1,
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SerialProtocol_MAVLink2 = 2, // do not use - use MAVLink and provide instance of 1
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