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GCS_MAVLink: Add support for parity to Serial passthrough 

Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes.  Some use cases for serial passthrough require specific parity settings.

For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough.  Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project.
This commit is contained in:
Brad Bosch 2024-05-25 17:46:36 -05:00 committed by Andrew Tridgell
parent f2f9349419
commit 3b150d2e4c
2 changed files with 46 additions and 11 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -1333,6 +1333,8 @@ private:
uint32_t last_port1_data_ms;
uint32_t baud1;
uint32_t baud2;
uint8_t parity1;
uint8_t parity2;
uint8_t timeout_s;
HAL_Semaphore sem;
} _passthru;

55
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -6638,6 +6638,7 @@ void GCS::update_passthru(void)
WITH_SEMAPHORE(_passthru.sem);
uint32_t now = AP_HAL::millis();
uint32_t baud1, baud2;
uint8_t parity1 = 0, parity2 = 0;
bool enabled = AP::serialmanager().get_passthru(_passthru.port1, _passthru.port2, _passthru.timeout_s,
baud1, baud2);
if (enabled && !_passthru.enabled) {
@ -6647,6 +6648,8 @@ void GCS::update_passthru(void)
_passthru.last_port1_data_ms = now;
_passthru.baud1 = baud1;
_passthru.baud2 = baud2;
_passthru.parity1 = parity1 = _passthru.port1->get_parity();
_passthru.parity2 = parity2 = _passthru.port2->get_parity();
gcs().send_text(MAV_SEVERITY_INFO, "Passthru enabled");
if (!_passthru.timer_installed) {
_passthru.timer_installed = true;
@ -6665,6 +6668,13 @@ void GCS::update_passthru(void)
_passthru.port2->end();
_passthru.port2->begin(baud2);
}
// Restore original parity
if (_passthru.parity1 != parity1) {
_passthru.port1->configure_parity(parity1);
}
if (_passthru.parity2 != parity2) {
_passthru.port2->configure_parity(parity2);
}
gcs().send_text(MAV_SEVERITY_INFO, "Passthru disabled");
} else if (enabled &&
_passthru.timeout_s &&
@ -6683,12 +6693,19 @@ void GCS::update_passthru(void)
_passthru.port2->end();
_passthru.port2->begin(baud2);
}
// Restore original parity
if (_passthru.parity1 != parity1) {
_passthru.port1->configure_parity(parity1);
}
if (_passthru.parity2 != parity2) {
_passthru.port2->configure_parity(parity2);
}
gcs().send_text(MAV_SEVERITY_INFO, "Passthru timed out");
}
}
/*
called at 1kHz to handle pass-thru between SERIA0_PASSTHRU port and hal.console
called at 1kHz to handle pass-thru between SERIAL_PASS1 and SERIAL_PASS2 ports
*/
void GCS::passthru_timer(void)
{
@ -6701,7 +6718,7 @@ void GCS::passthru_timer(void)
if (_passthru.start_ms != 0) {
uint32_t now = AP_HAL::millis();
if (now - _passthru.start_ms < 1000) {
// delay for 1s so the reply for the SERIAL0_PASSTHRU param set can be seen by GCS
// delay for 1s so the reply for the SERIAL_PASS2 param set can be seen by GCS
return;
}
_passthru.start_ms = 0;
@ -6715,19 +6732,35 @@ void GCS::passthru_timer(void)
_passthru.port1->lock_port(lock_key, lock_key);
_passthru.port2->lock_port(lock_key, lock_key);
// Check for requested Baud rates over USB
// Check for requested Baud rates and parity over USB
uint32_t baud = _passthru.port1->get_usb_baud();
if (_passthru.baud2 != baud && baud != 0) {
_passthru.baud2 = baud;
_passthru.port2->end();
_passthru.port2->begin_locked(baud, 0, 0, lock_key);
uint8_t parity = _passthru.port1->get_usb_parity();
if (baud != 0) { // port1 is USB
if (_passthru.baud2 != baud) {
_passthru.baud2 = baud;
_passthru.port2->end();
_passthru.port2->begin_locked(baud, 0, 0, lock_key);
}
if (_passthru.parity2 != parity) {
_passthru.parity2 = parity;
_passthru.port2->configure_parity(parity);
}
}
baud = _passthru.port2->get_usb_baud();
if (_passthru.baud1 != baud && baud != 0) {
_passthru.baud1 = baud;
_passthru.port1->end();
_passthru.port1->begin_locked(baud, 0, 0, lock_key);
parity = _passthru.port2->get_usb_parity();
if (baud != 0) { // port2 is USB
if (_passthru.baud1 != baud) {
_passthru.baud1 = baud;
_passthru.port1->end();
_passthru.port1->begin_locked(baud, 0, 0, lock_key);
}
if (_passthru.parity1 != parity) {
_passthru.parity1 = parity;
_passthru.port1->configure_parity(parity);
}
}
uint8_t buf[64];