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AP_SerialManager: fixed passthru with network ports

This commit is contained in:
Andrew Tridgell 2023-11-16 17:44:30 +11:00 committed by Tom Pittenger
parent 84dd7eaaf1
commit 31fd43ba25
2 changed files with 36 additions and 9 deletions
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40
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -682,6 +682,24 @@ AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id)
return nullptr;
}
/*
get a UARTState by index
*/
const AP_SerialManager::UARTState *AP_SerialManager::get_state_by_id(uint8_t id) const
{
if (id < SERIALMANAGER_NUM_PORTS) {
return &state[id];
}
#if AP_SERIALMANAGER_REGISTER_ENABLED
for (auto p = registered_ports; p; p = p->next) {
if (p->state.idx == id) {
return &p->state;
}
}
#endif
return nullptr;
}
/*
* map from a 16 bit EEPROM baud rate to a real baud rate. For
* stm32-based boards we can do 1.5MBit, although 921600 is more
@ -757,18 +775,24 @@ void AP_SerialManager::set_options(uint16_t i)
// get the passthru ports if enabled
bool AP_SerialManager::get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s,
uint32_t &baud1, uint32_t &baud2) const
uint32_t &baud1, uint32_t &baud2)
{
if (passthru_port2 < 0 ||
passthru_port2 >= SERIALMANAGER_NUM_PORTS ||
passthru_port1 < 0 ||
passthru_port1 >= SERIALMANAGER_NUM_PORTS) {
passthru_port1 < 0) {
return false;
}
port1 = hal.serial(passthru_port1);
port2 = hal.serial(passthru_port2);
baud1 = state[passthru_port1].baudrate();
baud2 = state[passthru_port2].baudrate();
port1 = get_serial_by_id(passthru_port1);
port2 = get_serial_by_id(passthru_port2);
if (port1 == nullptr || port2 == nullptr) {
return false;
}
const auto *state1 = get_state_by_id(passthru_port1);
const auto *state2 = get_state_by_id(passthru_port2);
if (!state1 || !state2) {
return false;
}
baud1 = state1->baudrate();
baud2 = state2->baudrate();
timeout_s = MAX(passthru_timeout, 0);
return true;
}

5
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -246,7 +246,7 @@ public:
// get the passthru ports if enabled
bool get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s,
uint32_t &baud1, uint32_t &baud2) const;
uint32_t &baud1, uint32_t &baud2);
// disable passthru by settings SERIAL_PASS2 to -1
void disable_passthru(void);
@ -284,6 +284,9 @@ public:
uint8_t idx;
};
// get a state from serial index
const UARTState *get_state_by_id(uint8_t id) const;
// search through managed serial connections looking for the
// instance-nth UART which is running protocol protocol.
// protocol_match is used to determine equivalence of one protocol