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AP_Serialmanager: added IMOUT uart type 

# Conflicts:
#	libraries/AP_SerialManager/AP_SerialManager.cpp
#	libraries/AP_SerialManager/AP_SerialManager.h
This commit is contained in:
Andrew Tridgell 2023-11-28 14:18:14 +11:00
parent 46298052b6
commit e58e8b861d
3 changed files with 24 additions and 1 deletions
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14
libraries/AP_SerialManager/AP_SerialManager.cpp
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@ -24,6 +24,7 @@
#include <AP_Math/AP_Math.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
#include <AP_MSP/AP_MSP.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include "AP_SerialManager.h"
#include <GCS_MAVLink/GCS.h>
@ -209,7 +210,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @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:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:Gimbal, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:EFI Serial, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS, 41:CoDevESC, 42:DisplayPort, 43:MAVLink High Latency, 44:IRC Tramp, 45:DDS XRCE
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:Gimbal, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:EFI Serial, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS, 41:CoDevESC, 42:DisplayPort, 43:MAVLink High Latency, 44:IRC Tramp, 45:DDS XRCE, 46:IMUDATA
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, DEFAULT_SERIAL1_PROTOCOL),
@ -600,6 +601,17 @@ void AP_SerialManager::init()
// Note init is handled by AP_MSP
break;
#endif
#if AP_SERIALMANAGER_IMUOUT_ENABLED
case SerialProtocol_IMUOUT:
uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_IMUOUT_BUFSIZE_RX,
AP_SERIALMANAGER_IMUOUT_BUFSIZE_TX);
AP::ins().set_imu_out_uart(uart);
uart->set_unbuffered_writes(true);
break;
#endif
default:
uart->begin(state[i].baudrate());
}

1
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -79,6 +79,7 @@ public:
SerialProtocol_MAVLinkHL = 43,
SerialProtocol_Tramp = 44,
SerialProtocol_DDS_XRCE = 45,
SerialProtocol_IMUOUT = 46,
SerialProtocol_NumProtocols // must be the last value
};

10
libraries/AP_SerialManager/AP_SerialManager_config.h
View File

@ -21,6 +21,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Networking/AP_Networking_Config.h>
#include <AP_InertialSensor/AP_InertialSensor_config.h>
#ifdef HAL_UART_NUM_SERIAL_PORTS
#if HAL_UART_NUM_SERIAL_PORTS >= 4
@ -56,6 +57,10 @@
#define AP_SERIALMANAGER_REGISTER_ENABLED BOARD_FLASH_SIZE > 1024 && (AP_NETWORKING_ENABLED || HAL_ENABLE_DRONECAN_DRIVERS)
#endif
#ifndef AP_SERIALMANAGER_IMUOUT_ENABLED
#define AP_SERIALMANAGER_IMUOUT_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) && AP_INERTIALSENSOR_ENABLED
#endif
// serial ports registered by AP_Networking will use IDs starting at 21 for the first port
#define AP_SERIALMANAGER_NET_PORT_1 21 // NET_P1_*
@ -127,3 +132,8 @@
#define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128
#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
#define AP_SERIALMANAGER_MSP_BAUD 115200
// IMU OUT protocol
#define AP_SERIALMANAGER_IMUOUT_BAUD 921600
#define AP_SERIALMANAGER_IMUOUT_BUFSIZE_RX 128
#define AP_SERIALMANAGER_IMUOUT_BUFSIZE_TX 2048