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AP_SerialManager: generalise SToRM32 serial protocol desc and enum

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Randy Mackay 2023-05-15 21:06:22 +09:00 committed by Andrew Tridgell
parent 237a3782a3
commit e672a75776
4 changed files with 11 additions and 11 deletions
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2
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
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@ -11,7 +11,7 @@ void AP_Mount_SToRM32_serial::init()
{ {
const AP_SerialManager& serial_manager = AP::serialmanager(); const AP_SerialManager& serial_manager = AP::serialmanager();
_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_SToRM32, 0); _port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Gimbal, 0);
if (_port) { if (_port) {
_initialised = true; _initialised = true;
set_mode((enum MAV_MOUNT_MODE)_params.default_mode.get()); set_mode((enum MAV_MOUNT_MODE)_params.default_mode.get());

2
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -28,7 +28,7 @@ void AP_Mount_Siyi::init()
{ {
const AP_SerialManager& serial_manager = AP::serialmanager(); const AP_SerialManager& serial_manager = AP::serialmanager();
_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_SToRM32, 0); _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Gimbal, 0);
if (_uart != nullptr) { if (_uart != nullptr) {
_initialised = true; _initialised = true;
set_mode((enum MAV_MOUNT_MODE)_params.default_mode.get()); set_mode((enum MAV_MOUNT_MODE)_params.default_mode.get());

10
libraries/AP_SerialManager/AP_SerialManager.cpp
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@ -148,7 +148,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 1_PROTOCOL // @Param: 1_PROTOCOL
// @DisplayName: Telem1 protocol selection // @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. // @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:SToRM32 Gimbal Serial, 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 // @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
// @User: Standard // @User: Standard
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, DEFAULT_SERIAL1_PROTOCOL), AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, DEFAULT_SERIAL1_PROTOCOL),
@ -454,12 +454,12 @@ void AP_SerialManager::init()
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX, AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX,
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX); AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX);
break; break;
case SerialProtocol_SToRM32: case SerialProtocol_Gimbal:
// Note baudrate is hardcoded to 115200 // Note baudrate is hardcoded to 115200
state[i].baud.set_and_default(AP_SERIALMANAGER_SToRM32_BAUD / 1000); // update baud param in case user looks at it state[i].baud.set_and_default(AP_SERIALMANAGER_GIMBAL_BAUD / 1000); // update baud param in case user looks at it
uart->begin(state[i].baudrate(), uart->begin(state[i].baudrate(),
AP_SERIALMANAGER_SToRM32_BUFSIZE_RX, AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX,
AP_SERIALMANAGER_SToRM32_BUFSIZE_TX); AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX);
break; break;
case SerialProtocol_Aerotenna_USD1: case SerialProtocol_Aerotenna_USD1:
state[i].protocol.set_and_save(SerialProtocol_Rangefinder); state[i].protocol.set_and_save(SerialProtocol_Rangefinder);

8
libraries/AP_SerialManager/AP_SerialManager.h
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@ -85,9 +85,9 @@
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128 #define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128 #define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128
#define AP_SERIALMANAGER_SToRM32_BAUD 115200 #define AP_SERIALMANAGER_GIMBAL_BAUD 115200
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_RX 128 #define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_TX 128 #define AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX 128
#define AP_SERIALMANAGER_VOLZ_BAUD 115 #define AP_SERIALMANAGER_VOLZ_BAUD 115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128 #define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
@ -132,7 +132,7 @@ public:
SerialProtocol_GPS = 5, SerialProtocol_GPS = 5,
SerialProtocol_GPS2 = 6, // do not use - use GPS and provide instance of 1 SerialProtocol_GPS2 = 6, // do not use - use GPS and provide instance of 1
SerialProtocol_AlexMos = 7, SerialProtocol_AlexMos = 7,
SerialProtocol_SToRM32 = 8, SerialProtocol_Gimbal = 8, // SToRM32, Siyi custom serial protocols
SerialProtocol_Rangefinder = 9, SerialProtocol_Rangefinder = 9,
SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers) SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2 SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2