Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_SerialManager: remove mavlink-specific methods from AP_SerialManager

Browse Source
This commit is contained in:
Peter Barker 2022-07-11 17:57:40 +10:00 committed by Andrew Tridgell
parent 10bc615b57
commit b958c3db70
2 changed files with 43 additions and 61 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

57
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -462,7 +462,7 @@ void AP_SerialManager::init()
case SerialProtocol_MAVLink: case SerialProtocol_MAVLink:
case SerialProtocol_MAVLink2: case SerialProtocol_MAVLink2:
case SerialProtocol_MAVLinkHL: case SerialProtocol_MAVLinkHL:
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX, AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX,
AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX); AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX);
break; break;
@ -479,7 +479,7 @@ void AP_SerialManager::init()
break; break;
case SerialProtocol_GPS: case SerialProtocol_GPS:
case SerialProtocol_GPS2: case SerialProtocol_GPS2:
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_GPS_BUFSIZE_RX, AP_SERIALMANAGER_GPS_BUFSIZE_RX,
AP_SERIALMANAGER_GPS_BUFSIZE_TX); AP_SERIALMANAGER_GPS_BUFSIZE_TX);
break; break;
@ -493,7 +493,7 @@ void AP_SerialManager::init()
case SerialProtocol_SToRM32: case SerialProtocol_SToRM32:
// Note baudrate is hardcoded to 115200 // Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_SToRM32_BAUD / 1000; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_SToRM32_BAUD / 1000; // update baud param in case user looks at it
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_SToRM32_BUFSIZE_RX, AP_SERIALMANAGER_SToRM32_BUFSIZE_RX,
AP_SERIALMANAGER_SToRM32_BUFSIZE_TX); AP_SERIALMANAGER_SToRM32_BUFSIZE_TX);
break; break;
@ -503,7 +503,7 @@ void AP_SerialManager::init()
case SerialProtocol_Volz: case SerialProtocol_Volz:
// Note baudrate is hardcoded to 115200 // Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_VOLZ_BUFSIZE_RX, AP_SERIALMANAGER_VOLZ_BUFSIZE_RX,
AP_SERIALMANAGER_VOLZ_BUFSIZE_TX); AP_SERIALMANAGER_VOLZ_BUFSIZE_TX);
uart->set_unbuffered_writes(true); uart->set_unbuffered_writes(true);
@ -511,7 +511,7 @@ void AP_SerialManager::init()
break; break;
case SerialProtocol_Sbus1: case SerialProtocol_Sbus1:
state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000; // update baud param in case user looks at it
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_SBUS1_BUFSIZE_RX, AP_SERIALMANAGER_SBUS1_BUFSIZE_RX,
AP_SERIALMANAGER_SBUS1_BUFSIZE_TX); AP_SERIALMANAGER_SBUS1_BUFSIZE_TX);
uart->configure_parity(2); // enable even parity uart->configure_parity(2); // enable even parity
@ -523,12 +523,12 @@ void AP_SerialManager::init()
case SerialProtocol_ESCTelemetry: case SerialProtocol_ESCTelemetry:
// ESC telemetry protocol from BLHeli32 ESCs. Note that baudrate is hardcoded to 115200 // ESC telemetry protocol from BLHeli32 ESCs. Note that baudrate is hardcoded to 115200
state[i].baud = 115200 / 1000; state[i].baud = 115200 / 1000;
uart->begin(map_baudrate(state[i].baud), 30, 30); uart->begin(state[i].baudrate(), 30, 30);
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
break; break;
case SerialProtocol_Robotis: case SerialProtocol_Robotis:
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX, AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX,
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX); AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX);
uart->set_unbuffered_writes(true); uart->set_unbuffered_writes(true);
@ -536,7 +536,7 @@ void AP_SerialManager::init()
break; break;
case SerialProtocol_SLCAN: case SerialProtocol_SLCAN:
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_SLCAN_BUFSIZE_RX, AP_SERIALMANAGER_SLCAN_BUFSIZE_RX,
AP_SERIALMANAGER_SLCAN_BUFSIZE_TX); AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
break; break;
@ -549,7 +549,7 @@ void AP_SerialManager::init()
case SerialProtocol_EFI: case SerialProtocol_EFI:
state[i].baud.set_default(AP_SERIALMANAGER_EFI_MS_BAUD); state[i].baud.set_default(AP_SERIALMANAGER_EFI_MS_BAUD);
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX, AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX,
AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX); AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX);
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
@ -563,7 +563,7 @@ void AP_SerialManager::init()
case SerialProtocol_MSP_DisplayPort: case SerialProtocol_MSP_DisplayPort:
// baudrate defaults to 115200 // baudrate defaults to 115200
state[i].baud.set_default(AP_SERIALMANAGER_MSP_BAUD/1000); state[i].baud.set_default(AP_SERIALMANAGER_MSP_BAUD/1000);
uart->begin(map_baudrate(state[i].baud), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_MSP_BUFSIZE_RX, AP_SERIALMANAGER_MSP_BUFSIZE_RX,
AP_SERIALMANAGER_MSP_BUFSIZE_TX); AP_SERIALMANAGER_MSP_BUFSIZE_TX);
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
@ -571,7 +571,7 @@ void AP_SerialManager::init()
break; break;
#endif #endif
default: default:
uart->begin(map_baudrate(state[i].baud)); uart->begin(state[i].baudrate());
} }
} }
} }
@ -630,7 +630,7 @@ uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t i
if (_state == nullptr) { if (_state == nullptr) {
return 0; return 0;
} }
return map_baudrate(_state->baud); return state->baudrate();
} }
// find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found // find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found
@ -643,35 +643,6 @@ int8_t AP_SerialManager::find_portnum(enum SerialProtocol protocol, uint8_t inst
return int8_t(_state - &state[0]); return int8_t(_state - &state[0]);
} }
// should_forward_mavlink_telemetry - returns true if this port should forward telemetry
bool AP_SerialManager::should_forward_mavlink_telemetry(enum SerialProtocol protocol, uint8_t instance) const
{
const struct UARTState *_state = find_protocol_instance(protocol, instance);
if (_state == nullptr) {
return true;
}
return (_state->options & AP_HAL::UARTDriver::OPTION_MAVLINK_NO_FORWARD) != AP_HAL::UARTDriver::OPTION_MAVLINK_NO_FORWARD;
}
// 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 ||
state[i].protocol == SerialProtocol_MAVLinkHL) {
if (instance == chan_idx) {
return (SerialProtocol)state[i].protocol.get();
}
instance++;
}
}
return SerialProtocol_None;
}
// get_serial_by_id - gets serial by serial id // get_serial_by_id - gets serial by serial id
AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id) AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id)
{ {
@ -777,8 +748,8 @@ bool AP_SerialManager::get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriv
} }
port1 = hal.serial(passthru_port1); port1 = hal.serial(passthru_port1);
port2 = hal.serial(passthru_port2); port2 = hal.serial(passthru_port2);
baud1 = map_baudrate(state[passthru_port1].baud); baud1 = state[passthru_port1].baudrate();
baud2 = map_baudrate(state[passthru_port2].baud); baud2 = state[passthru_port2].baudrate();
timeout_s = MAX(passthru_timeout, 0); timeout_s = MAX(passthru_timeout, 0);
return true; return true;
} }

47
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -22,7 +22,6 @@
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#ifdef HAL_UART_NUM_SERIAL_PORTS #ifdef HAL_UART_NUM_SERIAL_PORTS
@ -202,13 +201,6 @@ public:
// find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found // find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found
int8_t find_portnum(enum SerialProtocol protocol, uint8_t instance) const; int8_t find_portnum(enum SerialProtocol protocol, uint8_t instance) const;
// should_forward_mavlink_telemetry - returns true if this port should forward telemetry
bool should_forward_mavlink_telemetry(enum SerialProtocol protocol, uint8_t instance) 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 // set_blocking_writes_all - sets block_writes on or off for all serial channels
void set_blocking_writes_all(bool blocking); void set_blocking_writes_all(bool blocking);
@ -230,27 +222,46 @@ public:
// parameter var table // parameter var table
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
class UARTState {
friend class AP_SerialManager;
public:
bool option_enabled(uint16_t option) const {
return (options & option) == option;
}
// returns a baudrate such as 9600. May map from a special
// parameter value like "57" to "57600":
uint32_t baudrate() const {
return AP_SerialManager::map_baudrate(baud);
}
AP_SerialManager::SerialProtocol get_protocol() const {
return AP_SerialManager::SerialProtocol(protocol.get());
}
private:
AP_Int32 baud;
AP_Int16 options;
AP_Int8 protocol;
};
// search through managed serial connections looking for the
// instance-nth UART which is running protocol protocol.
// protocol_match is used to determine equivalence of one protocol
// to another, e.g. MAVLink2 is considered MAVLink1 for finding
// mavlink1 protocol instances.
const UARTState *find_protocol_instance(enum SerialProtocol protocol,
uint8_t instance) const;
private: private:
static AP_SerialManager *_singleton; static AP_SerialManager *_singleton;
// array of uart info. See comment above about // array of uart info. See comment above about
// SERIALMANAGER_MAX_PORTS // SERIALMANAGER_MAX_PORTS
struct UARTState { UARTState state[SERIALMANAGER_MAX_PORTS];
AP_Int32 baud;
AP_Int16 options;
AP_Int8 protocol;
} state[SERIALMANAGER_MAX_PORTS];
// pass-through serial support // pass-through serial support
AP_Int8 passthru_port1; AP_Int8 passthru_port1;
AP_Int8 passthru_port2; AP_Int8 passthru_port2;
AP_Int8 passthru_timeout; 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,
uint8_t instance) const;
// protocol_match - returns true if the protocols match // protocol_match - returns true if the protocols match
bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const; bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;