Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Periph: Allow configuring parity and stop bits for network pass through

Browse Source
This commit is contained in:
rishabsingh3003 2024-12-17 11:18:24 -05:00
parent b5c108c223
commit bf015cfc17
2 changed files with 65 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
Tools/AP_Periph/networking.h
View File

@ -18,6 +18,10 @@
#define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000 #define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
#endif #endif
#ifndef HAL_PERIPH_NETWORK_PASSTHRU_ENABLE_PARITY_STOP_BITS
#define HAL_PERIPH_NETWORK_PASSTHRU_ENABLE_PARITY_STOP_BITS 0
#endif
class Networking_Periph { class Networking_Periph {
public: public:
Networking_Periph() { Networking_Periph() {
@ -48,6 +52,9 @@ private:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
// configure a serial port for passthru
void configure_serial_port(AP_HAL::UARTDriver *port, uint32_t baud, uint32_t options, int8_t parity, int8_t stop_bits);
AP_Int8 enabled; AP_Int8 enabled;
AP_Int8 ep1; AP_Int8 ep1;
AP_Int8 ep2; AP_Int8 ep2;
@ -55,6 +62,12 @@ private:
AP_Int32 baud2; AP_Int32 baud2;
AP_Int32 options1; AP_Int32 options1;
AP_Int32 options2; AP_Int32 options2;
#if HAL_PERIPH_NETWORK_PASSTHRU_ENABLE_PARITY_STOP_BITS
AP_Int8 parity1;
AP_Int8 stop_bits1;
AP_Int8 parity2;
AP_Int8 stop_bits2;
#endif
AP_HAL::UARTDriver *port1; AP_HAL::UARTDriver *port1;
AP_HAL::UARTDriver *port2; AP_HAL::UARTDriver *port2;

58
Tools/AP_Periph/networking_passthru.cpp
View File

@ -66,6 +66,32 @@ const AP_Param::GroupInfo Networking_Periph::Passthru::var_info[] = {
// @CopyFieldsFrom: SERIAL1_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS
AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0), AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0),
#if HAL_PERIPH_NETWORK_PASSTHRU_ENABLE_PARITY_STOP_BITS
// @Param: PAR1
// @DisplayName: Serial Port Parity
// @Description: UART Parity Configuration for Endpoint 1.Only applies to serial ports.
// @Values: 0: No parity, 1: Odd parity, 2: Even parity
AP_GROUPINFO("PAR1", 8, Networking_Periph::Passthru, parity1, -1),
// @Param: ST_BT1
// @DisplayName: Serial Port Stop Bits
// @Description: UART Stop Bits Configuration for Endpoint 1. Only applies to serial ports.
// @Values: 0: 0 stop bit, 1: 1 stop bits, 2: 2 stop bits
AP_GROUPINFO("ST_BT1", 9, Networking_Periph::Passthru, stop_bits1, -1),
// @Param: PAR2
// @DisplayName: Serial Port Parity
// @Description: UART Parity Configuration for Endpoint 2. Only applies to serial ports.
// @CopyFieldsFrom: NET_PASS1_PAR1
AP_GROUPINFO("PAR2", 10, Networking_Periph::Passthru, parity2, -1),
// @Param: ST_BT2
// @DisplayName: Serial Port Stop Bits
// @Description: UART Stop Bits Configuration for Endpoint 2. Only applies to serial ports.
// @CopyFieldsFrom: NET_PASS1_ST_BT1
AP_GROUPINFO("ST_BT2", 11, Networking_Periph::Passthru, stop_bits2, -1),
#endif
AP_GROUPEND AP_GROUPEND
}; };
@ -89,13 +115,33 @@ void Networking_Periph::Passthru::init()
port1 = AP::serialmanager().get_serial_by_id(ep1); port1 = AP::serialmanager().get_serial_by_id(ep1);
port2 = AP::serialmanager().get_serial_by_id(ep2); port2 = AP::serialmanager().get_serial_by_id(ep2);
if (port1 != nullptr && port2 != nullptr) { #if HAL_PERIPH_NETWORK_PASSTHRU_ENABLE_PARITY_STOP_BITS
port1->set_options(options1); configure_serial_port(port1, baud1, options1, parity1, stop_bits1);
port1->begin(baud1); configure_serial_port(port2, baud2, options2, parity2, stop_bits2);
#else
port2->set_options(options2); configure_serial_port(port1, baud1, options1, -1, -1);
port2->begin(baud2); configure_serial_port(port2, baud2, options2, -1, -1);
#endif
} }
void Networking_Periph::Passthru::configure_serial_port(AP_HAL::UARTDriver *port, uint32_t baud, uint32_t options, int8_t parity, int8_t stop_bits)
{
if (port == nullptr) {
return;
}
port->set_options(options);
port->begin(baud);
#if HAL_PERIPH_NETWORK_PASSTHRU_ENABLE_PARITY_STOP_BITS
// Configure parity and stop bits if enabled
if (parity >= 0) {
port->configure_parity(parity);
}
if (stop_bits >= 0) {
port->set_stop_bits(stop_bits);
}
#endif
} }
void Networking_Periph::Passthru::update() void Networking_Periph::Passthru::update()