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AP_SerialManager: added uartH support

This commit is contained in:
Andrew Tridgell 2019-07-12 14:59:02 +10:00
parent ac7a67fda0
commit 4ff008b803
2 changed files with 34 additions and 2 deletions
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32
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -48,6 +48,14 @@ extern const AP_HAL::HAL& hal;
#define SERIAL6_BAUD HAL_SERIAL6_BAUD
#endif
#ifndef HAL_SERIAL7_PROTOCOL
#define SERIAL7_PROTOCOL SerialProtocol_None
#define SERIAL7_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
#else
#define SERIAL7_PROTOCOL HAL_SERIAL7_PROTOCOL
#define SERIAL7_BAUD HAL_SERIAL7_BAUD
#endif
const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 0_BAUD
@ -226,6 +234,29 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Units: s
// @User: Advanced
AP_GROUPINFO("_PASSTIMO", 22, AP_SerialManager, passthru_timeout, 15),
// @Param: 7_PROTOCOL
// @DisplayName: Serial7 protocol selection
// @Description: Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("7_PROTOCOL", 23, AP_SerialManager, state[7].protocol, SERIAL7_PROTOCOL),
// @Param: 7_BAUD
// @DisplayName: Serial 7 Baud Rate
// @Description: The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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.
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("7_BAUD", 24, AP_SerialManager, state[7].baud, SERIAL7_BAUD),
// @Param: 7_OPTIONS
// @DisplayName: Serial7 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0),
AP_GROUPEND
};
@ -266,6 +297,7 @@ void AP_SerialManager::init()
state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS
state[5].uart = hal.uartF; // serial5
state[6].uart = hal.uartG; // serial6
state[7].uart = hal.uartH; // serial7
if (state[0].uart == nullptr) {
init_console();

4
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -25,8 +25,8 @@
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Param/AP_Param.h>
// we have hal.uartA to hal.uartG
#define SERIALMANAGER_NUM_PORTS 7
// we have hal.uartA to hal.uartH
#define SERIALMANAGER_NUM_PORTS 8
// console default baud rates and buffer sizes
#ifdef HAL_SERIAL0_BAUD_DEFAULT