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AP_SerialManager: added serial passthru support 

this allows for pass-thru between two serial ports, allowing for the
use of serial config tools
This commit is contained in:
Andrew Tridgell 2018-12-19 22:24:57 +11:00
parent 8cca632b67
commit b88c08f5a1
2 changed files with 57 additions and 0 deletions
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46
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -203,6 +203,28 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @RebootRequired: True
AP_GROUPINFO("6_OPTIONS", 19, AP_SerialManager, state[6].options, 0),
// @Param: _PASS1
// @DisplayName: Serial passthru first port
// @Description: This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
// @Values: -1:Disabled,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6
// @User: Advanced
AP_GROUPINFO("_PASS1", 20, AP_SerialManager, passthru_port1, 0),
// @Param: _PASS2
// @DisplayName: Serial passthru second port
// @Description: This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
// @Values: -1:Disabled,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6
// @User: Advanced
AP_GROUPINFO("_PASS2", 21, AP_SerialManager, passthru_port2, -1),
// @Param: _PASSTIMO
// @DisplayName: Serial passthru timeout
// @Description: This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.
// @Range: 0 120
// @Units: s
// @User: Advanced
AP_GROUPINFO("_PASSTIMO", 22, AP_SerialManager, passthru_timeout, 15),
AP_GROUPEND
};
@ -232,6 +254,9 @@ extern bool g_nsh_should_exit;
// init - // init - initialise serial ports
void AP_SerialManager::init()
{
// always reset passthru port2 on boot
passthru_port2.set_and_save_ifchanged(-1);
// initialise pointers to serial ports
state[1].uart = hal.uartC; // serial1, uartC, normally telem1
state[2].uart = hal.uartD; // serial2, uartD, normally telem2
@ -503,6 +528,27 @@ void AP_SerialManager::set_options(uint8_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) const
{
if (passthru_port2 < 0 ||
passthru_port2 >= SERIALMANAGER_NUM_PORTS ||
passthru_port1 < 0 ||
passthru_port1 >= SERIALMANAGER_NUM_PORTS) {
return false;
}
port1 = state[passthru_port1].uart;
port2 = state[passthru_port2].uart;
timeout_s = MAX(passthru_timeout, 0);
return true;
}
// disable passthru by settings SERIAL_PASS2 to -1
void AP_SerialManager::disable_passthru(void)
{
passthru_port2.set_and_notify(-1);
}
namespace AP {

11
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -141,6 +141,12 @@ public:
// set_blocking_writes_all - sets block_writes on or off for all serial channels
void set_blocking_writes_all(bool blocking);
// get the passthru ports if enabled
bool get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s) const;
// disable passthru by settings SERIAL_PASS2 to -1
void disable_passthru(void);
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
@ -155,6 +161,11 @@ private:
AP_Int16 options;
} state[SERIALMANAGER_NUM_PORTS];
// pass-through serial support
AP_Int8 passthru_port1;
AP_Int8 passthru_port2;
AP_Int8 passthru_timeout;
// search through managed serial connections looking for the
// instance-nth UART which is running protocol protocol
const UARTState *find_protocol_instance(enum SerialProtocol protocol,