mirror of https://github.com/ArduPilot/ardupilot
SerialManager: consolidate MAVLink1 and 2
This commit is contained in:
Randy Mackay
parent
a0028e3faf
commit
aef16160dc
|
|
@ -37,9 +37,9 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
|
|||
// @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:GCS Mavlink, 2:GCS Mavlink (2nd), 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 6:2nd GPS, 7:Alexmos Gimbal Serial
|
||||
// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
|
||||
// @User: Standard
|
||||
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink1),
|
||||
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
|
||||
|
||||
// @Param: 1_BAUD
|
||||
// @DisplayName: Telem1 Baud Rate
|
||||
|
|
@ -51,9 +51,9 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
|
|||
// @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:GCS Mavlink, 2:GCS Mavlink (2nd), 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 6:GPS (2nd), 7:Alexmos Gimbal Serial
|
||||
// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
|
||||
// @User: Standard
|
||||
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink2),
|
||||
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),
|
||||
|
||||
// @Param: 2_BAUD
|
||||
// @DisplayName: Telemetry 2 Baud Rate
|
||||
|
|
@ -65,7 +65,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
|
|||
// @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:GCS Mavlink, 2:GCS Mavlink (2nd), 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 6:GPS (2nd), 7:Alexmos Gimbal Serial
|
||||
// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
|
||||
// @User: Standard
|
||||
AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
|
||||
|
||||
|
|
@ -79,9 +79,9 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
|
|||
// @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:GCS Mavlink, 2:GCS Mavlink (2nd), 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 6:GPS (2nd), 7:Alexmos Gimbal Serial
|
||||
// @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial
|
||||
// @User: Standard
|
||||
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS2),
|
||||
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
|
||||
|
||||
// @Param: 4_BAUD
|
||||
// @DisplayName: Serial 4 Baud Rate
|
||||
|
|
@ -129,7 +129,7 @@ void AP_SerialManager::init()
|
|||
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
|
||||
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
|
||||
break;
|
||||
case SerialProtocol_MAVLink1:
|
||||
case SerialProtocol_MAVLink:
|
||||
case SerialProtocol_MAVLink2:
|
||||
state[i].uart->begin(map_baudrate(state[i].baud),
|
||||
AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX,
|
||||
|
|
@ -166,13 +166,19 @@ void AP_SerialManager::init()
|
|||
}
|
||||
|
||||
// find_serial - searches available serial ports for the first instance that allows the given protocol
|
||||
// instance should be zero if searching for the first instance, 1 for the second, etc
|
||||
// returns uart on success, NULL if a serial port cannot be found
|
||||
AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol) const
|
||||
AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol, uint8_t instance) const
|
||||
{
|
||||
uint8_t found_instance = 0;
|
||||
|
||||
// search for matching protocol
|
||||
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
|
||||
if (state[i].protocol == protocol) {
|
||||
return state[i].uart;
|
||||
if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
|
||||
if (found_instance == instance) {
|
||||
return state[i].uart;
|
||||
}
|
||||
found_instance++;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -186,7 +192,7 @@ uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol) const
|
|||
{
|
||||
// search for matching protocol
|
||||
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
|
||||
if (state[i].protocol == protocol) {
|
||||
if ((enum SerialProtocol)state[i].protocol.get() == protocol) {
|
||||
return map_baudrate(state[i].baud);
|
||||
}
|
||||
}
|
||||
|
|
@ -196,28 +202,29 @@ uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol) const
|
|||
}
|
||||
|
||||
// get_mavlink_channel - provides the mavlink channel associated with a given protocol
|
||||
// instance should be zero if searching for the first instance, 1 for the second, etc
|
||||
// returns true if a channel is found, false if not
|
||||
bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, mavlink_channel_t &mav_chan) const
|
||||
bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const
|
||||
{
|
||||
switch (protocol) {
|
||||
case SerialProtocol_Console:
|
||||
mav_chan = MAVLINK_COMM_0;
|
||||
return true;
|
||||
break;
|
||||
case SerialProtocol_MAVLink1:
|
||||
mav_chan = MAVLINK_COMM_1;
|
||||
return true;
|
||||
break;
|
||||
case SerialProtocol_MAVLink2:
|
||||
mav_chan = MAVLINK_COMM_2;
|
||||
return true;
|
||||
break;
|
||||
default:
|
||||
return false;
|
||||
break;
|
||||
// check for console
|
||||
if (protocol == SerialProtocol_Console) {
|
||||
mav_chan = MAVLINK_COMM_0;
|
||||
return true;
|
||||
}
|
||||
|
||||
// we should never reach here
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
|
||||
// report failure
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -234,14 +241,19 @@ void AP_SerialManager::set_blocking_writes_all(bool blocking)
|
|||
|
||||
// set_console_baud - sets the console's baud rate to the rate specified by the protocol
|
||||
// used on APM2 to switch the console between the console baud rate (115200) and the SERIAL1 baud rate (user configurable)
|
||||
void AP_SerialManager::set_console_baud(enum SerialProtocol protocol) const
|
||||
void AP_SerialManager::set_console_baud(enum SerialProtocol protocol, uint8_t instance) const
|
||||
{
|
||||
uint8_t found_instance = 0;
|
||||
|
||||
// find baud rate of this protocol
|
||||
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
|
||||
if (state[i].protocol == protocol) {
|
||||
// set console's baud rate
|
||||
state[0].uart->begin(map_baudrate(state[i].baud));
|
||||
return;
|
||||
if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
|
||||
if (instance == found_instance) {
|
||||
// set console's baud rate
|
||||
state[0].uart->begin(map_baudrate(state[i].baud));
|
||||
return;
|
||||
}
|
||||
found_instance++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -285,3 +297,25 @@ uint32_t AP_SerialManager::map_baudrate(int32_t rate) const
|
|||
return rate*1000;
|
||||
}
|
||||
|
||||
// protocol_match - returns true if the protocols match
|
||||
bool AP_SerialManager::protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const
|
||||
{
|
||||
// check for obvious match
|
||||
if (protocol1 == protocol2) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// mavlink match
|
||||
if (((protocol1 == SerialProtocol_MAVLink) || (protocol1 == SerialProtocol_MAVLink2)) &&
|
||||
((protocol2 == SerialProtocol_MAVLink) || (protocol1 == SerialProtocol_MAVLink2))) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// gps match
|
||||
if (((protocol1 == SerialProtocol_GPS) || (protocol1 == SerialProtocol_GPS2)) &&
|
||||
((protocol2 == SerialProtocol_GPS) || (protocol1 == SerialProtocol_GPS2))) {
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -69,12 +69,12 @@ public:
|
|||
|
||||
enum SerialProtocol {
|
||||
SerialProtocol_Console = 0,
|
||||
SerialProtocol_MAVLink1 = 1,
|
||||
SerialProtocol_MAVLink2 = 2,
|
||||
SerialProtocol_MAVLink = 1,
|
||||
SerialProtocol_MAVLink2 = 2, // do not use - use MAVLink and provide instance of 1
|
||||
SerialProtocol_FRSky_DPort = 3,
|
||||
SerialProtocol_FRSky_SPort = 4,
|
||||
SerialProtocol_GPS = 5,
|
||||
SerialProtocol_GPS2 = 6,
|
||||
SerialProtocol_GPS2 = 6, // do not use - use GPS and provide instance of 1
|
||||
SerialProtocol_AlexMos = 7
|
||||
};
|
||||
|
||||
|
|
@ -87,24 +87,26 @@ public:
|
|||
// init - initialise serial ports
|
||||
void init();
|
||||
|
||||
// find_serial - searches available serial ports for the first instance that allows the given protocol
|
||||
// find_serial - searches available serial ports that allows the given protocol
|
||||
// instance should be zero if searching for the first instance, 1 for the second, etc
|
||||
// returns uart on success, NULL if a serial port cannot be found
|
||||
AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol) const;
|
||||
AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol, uint8_t instance) const;
|
||||
|
||||
// find_baudrate - searches available serial ports for the first instance that allows the given protocol
|
||||
// returns the baudrate of that protocol on success, 0 if a serial port cannot be found
|
||||
uint32_t find_baudrate(enum SerialProtocol protocol) const;
|
||||
|
||||
// get_mavlink_channel - provides the mavlink channel associated with a given protocol
|
||||
// get_mavlink_channel - provides the mavlink channel associated with a given protocol (and instance)
|
||||
// instance should be zero if searching for the first instance, 1 for the second, etc
|
||||
// returns true if a channel is found, false if not
|
||||
bool get_mavlink_channel(enum SerialProtocol protocol, mavlink_channel_t &mav_chan) const;
|
||||
bool get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, 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);
|
||||
|
||||
// set_console_baud - sets the console's baud rate to the rate specified by the protocol
|
||||
// used on APM2 to switch the console between the console baud rate (115200) and the SERIAL1 baud rate (user configurable)
|
||||
void set_console_baud(enum SerialProtocol protocol) const;
|
||||
void set_console_baud(enum SerialProtocol protocol, uint8_t instance) const;
|
||||
|
||||
// parameter var table
|
||||
static const struct AP_Param::GroupInfo var_info[];
|
||||
|
|
@ -119,6 +121,9 @@ private:
|
|||
} state[SERIALMANAGER_NUM_PORTS];
|
||||
|
||||
uint32_t map_baudrate(int32_t rate) const;
|
||||
|
||||
// protocol_match - returns true if the protocols match
|
||||
bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;
|
||||
};
|
||||
|
||||
#endif // _AP_SERIALMANAGER_
|
||||
|
|
|
|||
Loading…
Reference in New Issue