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AP_SerialManager: remove special case for console

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and add get_mavlink_protocol() to allow selection of correct mavlink
protocol behaviour
This commit is contained in:
Andrew Tridgell 2016-05-16 13:34:32 +10:00
parent 4a7dea0c5b
commit 78e9ef427e
2 changed files with 44 additions and 28 deletions
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66
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -43,10 +43,17 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @User: Standard
AP_GROUPINFO("0_BAUD", 0, AP_SerialManager, state[0].baud, AP_SERIALMANAGER_CONSOLE_BAUD/1000),
// @Param: 0_PROTOCOL
// @DisplayName: Console protocol selection
// @Description: Control what protocol to use on the console.
// @Values: 1:MAVlink1, 2:MAVLink2
// @User: Standard
AP_GROUPINFO("0_PROTOCOL", 11, AP_SerialManager, state[0].protocol, SerialProtocol_MAVLink),
// @Param: 1_PROTOCOL
// @DisplayName: Telem1 protocol selection
// @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @Values: -1:None, 1:MAVlink1, 2:MAVLink2, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
// @User: Standard
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
@ -60,7 +67,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 2_PROTOCOL
// @DisplayName: Telemetry 2 protocol selection
// @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @Values: -1:None, 1:MAVlink1, 2:MAVLink2, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
// @User: Standard
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),
@ -74,7 +81,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 3_PROTOCOL
// @DisplayName: Serial 3 (GPS) protocol selection
// @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.
// @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
// @Values: -1:None, 1:MAVlink1, 2:MAVLink2, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
// @User: Standard
AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
@ -88,7 +95,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 4_PROTOCOL
// @DisplayName: Serial4 protocol selection
// @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @Values: -1:None, 1:MAVlink1, 2:MAVLink2, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
// @User: Standard
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
@ -102,7 +109,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 5_PROTOCOL
// @DisplayName: Serial5 protocol selection
// @Description: Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @Values: -1:None, 1:MAVlink1, 2:MAVLink2, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
// @User: Standard
AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
@ -113,6 +120,8 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @User: Standard
AP_GROUPINFO("5_BAUD", 10, AP_SerialManager, state[5].baud, SERIAL5_BAUD),
// index 11 used by 0_PROTOCOL
AP_GROUPEND
};
@ -127,7 +136,6 @@ AP_SerialManager::AP_SerialManager()
void AP_SerialManager::init_console()
{
// initialise console immediately at default size and baud
state[0].protocol = SerialProtocol_Console; // protocol is unused for console
state[0].uart = hal.uartA; // serial0, uartA, always console
state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
@ -144,6 +152,10 @@ void AP_SerialManager::init()
state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS
state[5].uart = hal.uartF; // serial5
if (state[0].uart == nullptr) {
init_console();
}
// initialise serial ports
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].uart != NULL) {
@ -151,10 +163,6 @@ void AP_SerialManager::init()
case SerialProtocol_None:
break;
case SerialProtocol_Console:
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
break;
case SerialProtocol_MAVLink:
case SerialProtocol_MAVLink2:
state[i].uart->begin(map_baudrate(state[i].baud),
@ -245,32 +253,36 @@ uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t i
// returns true if a channel is found, false if not
bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const
{
// check for console
if (protocol == SerialProtocol_Console) {
mav_chan = MAVLINK_COMM_0;
return true;
}
// check for MAVLink
if (protocol_match(protocol, SerialProtocol_MAVLink)) {
if (instance == 0) {
mav_chan = MAVLINK_COMM_1;
return true;
}
if (instance == 1) {
mav_chan = MAVLINK_COMM_2;
return true;
}
if (instance == 2) {
mav_chan = MAVLINK_COMM_3;
if (instance < MAVLINK_COMM_NUM_BUFFERS) {
mav_chan = (mavlink_channel_t)(MAVLINK_COMM_0 + instance);
return true;
}
}
// report failure
return false;
}
// get_mavlink_protocol - provides the specific MAVLink protocol for a
// given channel, or SerialProtocol_None if not found
AP_SerialManager::SerialProtocol AP_SerialManager::get_mavlink_protocol(mavlink_channel_t mav_chan) const
{
uint8_t instance = 0;
uint8_t chan_idx = (uint8_t)(mav_chan - MAVLINK_COMM_0);
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].protocol == SerialProtocol_MAVLink ||
state[i].protocol == SerialProtocol_MAVLink2) {
if (instance == chan_idx) {
return (SerialProtocol)state[i].protocol.get();
}
instance++;
}
}
return SerialProtocol_None;
}
// set_blocking_writes_all - sets block_writes on or off for all serial channels
void AP_SerialManager::set_blocking_writes_all(bool blocking)
{

6
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -71,7 +71,7 @@ public:
enum SerialProtocol {
SerialProtocol_None = -1,
SerialProtocol_Console = 0,
SerialProtocol_Console = 0, // unused
SerialProtocol_MAVLink = 1,
SerialProtocol_MAVLink2 = 2, // do not use - use MAVLink and provide instance of 1
SerialProtocol_FRSky_DPort = 3,
@ -107,6 +107,10 @@ public:
// returns true if a channel is found, false if not
bool get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const;
// get_mavlink_protocol - provides the specific MAVLink protocol for a
// given channel, or SerialProtocol_None if not found
SerialProtocol get_mavlink_protocol(mavlink_channel_t mav_chan) const;
// set_blocking_writes_all - sets block_writes on or off for all serial channels
void set_blocking_writes_all(bool blocking);