mirror of https://github.com/ArduPilot/ardupilot
AP_Periph: move Network Passthrough to it's own file
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@ -17,10 +17,6 @@
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#ifdef HAL_PERIPH_ENABLE_NETWORKING
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#include <AP_SerialManager/AP_SerialManager.h>
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extern const AP_HAL::HAL &hal;
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const AP_Param::GroupInfo Networking_Periph::var_info[] {
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// @Group:
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// @Path: ../../libraries/AP_Networking/AP_Networking.cpp
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@ -145,80 +141,15 @@ const AP_Param::GroupInfo Networking_Periph::var_info[] {
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};
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const AP_Param::GroupInfo Networking_Periph::Passthru::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable Passthrough
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// @Description: Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
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// @Values: 0:Disabled, 1:Enabled
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO_FLAGS("ENABLE", 1, Networking_Periph::Passthru, enabled, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: EP1
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// @DisplayName: Endpoint 1
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// @Description: Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
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// @Values: -1:Disabled, 0:Serial0(usually USB), 1:Serial1, 2:Serial2, 3:Serial3, 4:Serial4, 5:Serial5, 6:Serial6, 7:Serial7, 8:Serial8, 9:Serial9, 21:Network Port1, 22:Network Port2, 23:Network Port3, 24:Network Port4, 25:Network Port5, 26:Network Port6, 27:Network Port7, 28:Network Port8, 29:Network Port9, 41:CAN1 Port1, 42:CAN1 Port2, 43:CAN1 Port3, 44:CAN1 Port4, 45:CAN1 Port5, 46:CAN1 Port6, 47:CAN1 Port7, 48:CAN1 Port8, 49:CAN1 Port9, 51:CAN2 Port1, 52:CAN2 Port2, 53:CAN2 Port3, 54:CAN2 Port4, 55:CAN2 Port5, 56:CAN2 Port6, 57:CAN2 Port7, 58:CAN2 Port8, 59:CAN2 Port9
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("EP1", 2, Networking_Periph::Passthru, ep1, -1),
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// @Param: EP2
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// @DisplayName: Endpoint 2
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// @Description: Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
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// @CopyFieldsFrom: NET_PASS1_EP1
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AP_GROUPINFO("EP2", 3, Networking_Periph::Passthru, ep2, -1),
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// @Param: BAUD1
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// @DisplayName: Endpoint 1 Baud Rate
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// @Description: The baud rate used for Endpoint 1. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_BAUD
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AP_GROUPINFO("BAUD1", 4, Networking_Periph::Passthru, baud1, 115200),
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// @Param: BAUD2
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// @DisplayName: Endpoint 2 Baud Rate
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// @Description: The baud rate used for Endpoint 2. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_BAUD
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AP_GROUPINFO("BAUD2", 5, Networking_Periph::Passthru, baud2, 115200),
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// @Param: OPT1
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// @DisplayName: Serial Port Options EP1
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// @Description: Control over UART options for Endpoint 1. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_OPTIONS
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AP_GROUPINFO("OPT1", 6, Networking_Periph::Passthru, options1, 0),
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// @Param: OPT2
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// @DisplayName: Serial Port Options EP2
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// @Description: Control over UART options for Endpoint 2. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_OPTIONS
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AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0),
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AP_GROUPEND
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};
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void Networking_Periph::init(void)
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{
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networking_lib.init();
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#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
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auto &serial_manager = AP::serialmanager();
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for (auto &p : passthru) {
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if (p.enabled != 0 && p.port1 == nullptr && p.port2 == nullptr &&
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p.ep1 != -1 && p.ep2 != -1 && p.ep1 != p.ep2) {
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p.port1 = serial_manager.get_serial_by_id(p.ep1);
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p.port2 = serial_manager.get_serial_by_id(p.ep2);
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if (p.port1 != nullptr && p.port2 != nullptr) {
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p.port1->set_options(p.options1);
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p.port1->begin(p.baud1);
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p.port2->set_options(p.options2);
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p.port2->begin(p.baud2);
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}
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}
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p.init();
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}
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#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
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#endif
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}
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void Networking_Periph::update(void)
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@ -227,34 +158,9 @@ void Networking_Periph::update(void)
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#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
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for (auto &p : passthru) {
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if (p.enabled == 0 || p.port1 == nullptr || p.port2 == nullptr) {
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continue;
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}
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uint8_t buf[1024];
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// read from port1, and write to port2
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auto avail = p.port1->available();
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if (avail > 0) {
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auto space = p.port2->txspace();
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const uint32_t n = MIN(space, sizeof(buf));
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const auto nbytes = p.port1->read(buf, n);
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if (nbytes > 0) {
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p.port2->write(buf, nbytes);
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}
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}
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// read from port2, and write to port1
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avail = p.port2->available();
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if (avail > 0) {
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auto space = p.port1->txspace();
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const uint32_t n = MIN(space, sizeof(buf));
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const auto nbytes = p.port2->read(buf, n);
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if (nbytes > 0) {
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p.port1->write(buf, nbytes);
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}
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}
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p.update();
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}
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#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
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#endif
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}
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#endif // HAL_PERIPH_ENABLE_NETWORKING
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@ -1,5 +1,7 @@
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#pragma once
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#include "AP_Periph.h"
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#ifdef HAL_PERIPH_ENABLE_NETWORKING
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#ifndef HAL_PERIPH_NETWORK_NUM_PASSTHRU
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@ -30,6 +32,9 @@ private:
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AP_Param::setup_object_defaults(this, var_info);
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}
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void init();
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void update();
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static const struct AP_Param::GroupInfo var_info[];
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private:
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@ -0,0 +1,135 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "networking.h"
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#if defined(HAL_PERIPH_ENABLE_NETWORKING) && HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
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#include <AP_SerialManager/AP_SerialManager.h>
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const AP_Param::GroupInfo Networking_Periph::Passthru::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable Passthrough
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// @Description: Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
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// @Values: 0:Disabled, 1:Enabled
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO_FLAGS("ENABLE", 1, Networking_Periph::Passthru, enabled, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: EP1
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// @DisplayName: Endpoint 1
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// @Description: Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
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// @Values: -1:Disabled, 0:Serial0(usually USB), 1:Serial1, 2:Serial2, 3:Serial3, 4:Serial4, 5:Serial5, 6:Serial6, 7:Serial7, 8:Serial8, 9:Serial9, 21:Network Port1, 22:Network Port2, 23:Network Port3, 24:Network Port4, 25:Network Port5, 26:Network Port6, 27:Network Port7, 28:Network Port8, 29:Network Port9, 41:CAN1 Port1, 42:CAN1 Port2, 43:CAN1 Port3, 44:CAN1 Port4, 45:CAN1 Port5, 46:CAN1 Port6, 47:CAN1 Port7, 48:CAN1 Port8, 49:CAN1 Port9, 51:CAN2 Port1, 52:CAN2 Port2, 53:CAN2 Port3, 54:CAN2 Port4, 55:CAN2 Port5, 56:CAN2 Port6, 57:CAN2 Port7, 58:CAN2 Port8, 59:CAN2 Port9
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("EP1", 2, Networking_Periph::Passthru, ep1, -1),
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// @Param: EP2
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// @DisplayName: Endpoint 2
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// @Description: Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
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// @CopyFieldsFrom: NET_PASS1_EP1
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AP_GROUPINFO("EP2", 3, Networking_Periph::Passthru, ep2, -1),
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// @Param: BAUD1
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// @DisplayName: Endpoint 1 Baud Rate
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// @Description: The baud rate used for Endpoint 1. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_BAUD
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AP_GROUPINFO("BAUD1", 4, Networking_Periph::Passthru, baud1, 115200),
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// @Param: BAUD2
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// @DisplayName: Endpoint 2 Baud Rate
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// @Description: The baud rate used for Endpoint 2. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_BAUD
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AP_GROUPINFO("BAUD2", 5, Networking_Periph::Passthru, baud2, 115200),
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// @Param: OPT1
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// @DisplayName: Serial Port Options EP1
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// @Description: Control over UART options for Endpoint 1. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_OPTIONS
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AP_GROUPINFO("OPT1", 6, Networking_Periph::Passthru, options1, 0),
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// @Param: OPT2
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// @DisplayName: Serial Port Options EP2
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// @Description: Control over UART options for Endpoint 2. Only applies to serial ports.
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// @CopyFieldsFrom: SERIAL1_OPTIONS
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AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0),
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AP_GROUPEND
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};
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void Networking_Periph::Passthru::init()
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{
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if (enabled == 0) {
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// Feature is disabled
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return;
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}
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if (port1 != nullptr || port2 != nullptr) {
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// The ports have already been initialized, nothing to do.
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return;
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}
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if (ep1 <= -1 || ep2 <= -1 || ep1 == ep2) {
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// end points are not set or are the same. Can't route to self
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return;
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}
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port1 = AP::serialmanager().get_serial_by_id(ep1);
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port2 = AP::serialmanager().get_serial_by_id(ep2);
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if (port1 != nullptr && port2 != nullptr) {
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port1->set_options(options1);
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port1->begin(baud1);
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port2->set_options(options2);
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port2->begin(baud2);
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}
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}
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void Networking_Periph::Passthru::update()
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{
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if (enabled == 0 || port1 == nullptr || port2 == nullptr) {
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return;
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}
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// Fastest possible connection is 3Mbps serial port, which is roughly 300KB/s payload and we service this at <= 1kHz
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// Raising this any higher just causes excess stack usage which never gets used.
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uint8_t buf[300];
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// read from port1, and write to port2
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auto avail = port1->available();
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if (avail > 0) {
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auto space = port2->txspace();
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const uint32_t n = MIN(space, sizeof(buf));
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const auto nbytes = port1->read(buf, n);
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if (nbytes > 0) {
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port2->write(buf, nbytes);
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}
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}
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// read from port2, and write to port1
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avail = port2->available();
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if (avail > 0) {
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auto space = port1->txspace();
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const uint32_t n = MIN(space, sizeof(buf));
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const auto nbytes = port2->read(buf, n);
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if (nbytes > 0) {
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port1->write(buf, nbytes);
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}
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}
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}
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#endif // defined(HAL_PERIPH_ENABLE_NETWORKING) && HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
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