/* Please contribute your ideas! See https://ardupilot.org/dev for details This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* SerialManager allows defining the protocol and baud rates for the available serial ports and provides helper functions so objects (like a gimbal) can find which serial port they should use */ #include "AP_SerialManager_config.h" #if AP_SERIALMANAGER_ENABLED #include #include #include #include #include #include "AP_SerialManager.h" #include extern const AP_HAL::HAL& hal; #ifndef DEFAULT_SERIAL0_PROTOCOL #define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_MAVLink2 #endif #ifndef DEFAULT_SERIAL0_BAUD #define DEFAULT_SERIAL0_BAUD AP_SERIALMANAGER_CONSOLE_BAUD #endif #ifdef HAL_SERIAL0_PROTOCOL #error "Please use DEFAULT_SERIAL0_PROTOCOL" #endif #ifndef DEFAULT_SERIAL1_PROTOCOL #define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2 #endif #ifndef DEFAULT_SERIAL1_BAUD #define DEFAULT_SERIAL1_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef DEFAULT_SERIAL1_OPTIONS #define DEFAULT_SERIAL1_OPTIONS 0 #endif #ifdef HAL_SERIAL1_PROTOCOL #error "Please use DEFAULT_SERIAL1_PROTOCOL" #endif #ifndef DEFAULT_SERIAL2_PROTOCOL #define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MAVLink2 #endif #ifndef DEFAULT_SERIAL2_BAUD #define DEFAULT_SERIAL2_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef DEFAULT_SERIAL2_OPTIONS #define DEFAULT_SERIAL2_OPTIONS 0 #endif #ifdef HAL_SERIAL2_PROTOCOL #error "Please use DEFAULT_SERIAL2_PROTOCOL" #endif #ifndef DEFAULT_SERIAL3_PROTOCOL #define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS #endif #ifndef DEFAULT_SERIAL3_BAUD #define DEFAULT_SERIAL3_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 #endif #ifndef DEFAULT_SERIAL3_OPTIONS #define DEFAULT_SERIAL3_OPTIONS 0 #endif #ifdef HAL_SERIAL3_PROTOCOL #error "Please use DEFAULT_SERIAL3_PROTOCOL" #endif #ifndef DEFAULT_SERIAL4_PROTOCOL #define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS #endif #ifndef DEFAULT_SERIAL4_BAUD #define DEFAULT_SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 #endif #ifndef DEFAULT_SERIAL4_OPTIONS #define DEFAULT_SERIAL4_OPTIONS 0 #endif #ifdef HAL_SERIAL4_PROTOCOL #error "Please use DEFAULT_SERIAL4_PROTOCOL" #endif #ifndef DEFAULT_SERIAL5_PROTOCOL #define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None #endif #ifndef DEFAULT_SERIAL5_BAUD #define DEFAULT_SERIAL5_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef DEFAULT_SERIAL5_OPTIONS #define DEFAULT_SERIAL5_OPTIONS 0 #endif #ifdef HAL_SERIAL5_PROTOCOL #error "Please use DEFAULT_SERIAL5_PROTOCOL" #endif #ifndef DEFAULT_SERIAL6_PROTOCOL #define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None #endif #ifndef DEFAULT_SERIAL6_BAUD #define DEFAULT_SERIAL6_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef DEFAULT_SERIAL6_OPTIONS #define DEFAULT_SERIAL6_OPTIONS 0 #endif #ifdef HAL_SERIAL6_PROTOCOL #error "Please use DEFAULT_SERIAL6_PROTOCOL" #endif #ifndef DEFAULT_SERIAL7_PROTOCOL #define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None #endif #ifndef DEFAULT_SERIAL7_BAUD #define DEFAULT_SERIAL7_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef DEFAULT_SERIAL7_OPTIONS #define DEFAULT_SERIAL7_OPTIONS 0 #endif #ifdef HAL_SERIAL7_PROTOCOL #error "Please use DEFAULT_SERIAL7_PROTOCOL" #endif #ifndef DEFAULT_SERIAL8_PROTOCOL #define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_None #endif #ifndef DEFAULT_SERIAL8_BAUD #define DEFAULT_SERIAL8_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef DEFAULT_SERIAL8_OPTIONS #define DEFAULT_SERIAL8_OPTIONS 0 #endif #ifdef HAL_SERIAL8_PROTOCOL #error "Please use DEFAULT_SERIAL8_PROTOCOL" #endif #ifndef DEFAULT_SERIAL9_PROTOCOL #define DEFAULT_SERIAL9_PROTOCOL SerialProtocol_None #endif #ifndef DEFAULT_SERIAL9_BAUD #define DEFAULT_SERIAL9_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef DEFAULT_SERIAL9_OPTIONS #define DEFAULT_SERIAL9_OPTIONS 0 #endif #ifdef HAL_SERIAL9_PROTOCOL #error "Please use DEFAULT_SERIAL9_PROTOCOL" #endif const AP_Param::GroupInfo AP_SerialManager::var_info[] = { #if HAL_HAVE_SERIAL0 // @Param: 0_BAUD // @DisplayName: Serial0 baud rate // @Description: The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,230:230400,256:256000,460:460800,500:500000,921:921600,1500:1500000,2000:2000000 // @User: Standard AP_GROUPINFO("0_BAUD", 0, AP_SerialManager, state[0].baud, DEFAULT_SERIAL0_BAUD/1000), // @Param: 0_PROTOCOL // @DisplayName: Console protocol selection // @Description: Control what protocol to use on the console. // @Values: 1:MAVLink1, 2:MAVLink2 // @User: Standard // @RebootRequired: True AP_GROUPINFO("0_PROTOCOL", 11, AP_SerialManager, state[0].protocol, SerialProtocol_MAVLink2), #endif #if HAL_HAVE_SERIAL1 // @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, 46:IMUDATA, 48:PPP // @User: Standard // @RebootRequired: True AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, DEFAULT_SERIAL1_PROTOCOL), // @Param: 1_BAUD // @DisplayName: Telem1 Baud Rate // @Description: The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,230:230400,256:256000,460:460800,500:500000,921:921600,1500:1500000,2000:2000000 // @User: Standard AP_GROUPINFO("1_BAUD", 2, AP_SerialManager, state[1].baud, DEFAULT_SERIAL1_BAUD), #endif #if HAL_HAVE_SERIAL2 // @Param: 2_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Telemetry 2 protocol selection // @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, DEFAULT_SERIAL2_PROTOCOL), // @Param: 2_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Telemetry 2 Baud Rate // @Description: The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("2_BAUD", 4, AP_SerialManager, state[2].baud, DEFAULT_SERIAL2_BAUD), #endif #if HAL_HAVE_SERIAL3 // @Param: 3_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Serial 3 (GPS) protocol selection // @Description: Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, DEFAULT_SERIAL3_PROTOCOL), // @Param: 3_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Serial 3 (GPS) Baud Rate // @Description: The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("3_BAUD", 6, AP_SerialManager, state[3].baud, DEFAULT_SERIAL3_BAUD), #endif #if HAL_HAVE_SERIAL4 // @Param: 4_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Serial4 protocol selection // @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, DEFAULT_SERIAL4_PROTOCOL), // @Param: 4_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Serial 4 Baud Rate // @Description: The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("4_BAUD", 8, AP_SerialManager, state[4].baud, DEFAULT_SERIAL4_BAUD), #endif #if HAL_HAVE_SERIAL5 // @Param: 5_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Serial5 protocol selection // @Description: Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, DEFAULT_SERIAL5_PROTOCOL), // @Param: 5_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Serial 5 Baud Rate // @Description: The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("5_BAUD", 10, AP_SerialManager, state[5].baud, DEFAULT_SERIAL5_BAUD), #endif // index 11 used by 0_PROTOCOL #if HAL_HAVE_SERIAL6 // @Param: 6_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Serial6 protocol selection // @Description: Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("6_PROTOCOL", 12, AP_SerialManager, state[6].protocol, DEFAULT_SERIAL6_PROTOCOL), // @Param: 6_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Serial 6 Baud Rate // @Description: The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("6_BAUD", 13, AP_SerialManager, state[6].baud, DEFAULT_SERIAL6_BAUD), #endif #if HAL_HAVE_SERIAL1 // @Param: 1_OPTIONS // @DisplayName: Telem1 options // @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate // @User: Advanced // @RebootRequired: True AP_GROUPINFO("1_OPTIONS", 14, AP_SerialManager, state[1].options, DEFAULT_SERIAL1_OPTIONS), #endif #if HAL_HAVE_SERIAL2 // @Param: 2_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Telem2 options AP_GROUPINFO("2_OPTIONS", 15, AP_SerialManager, state[2].options, DEFAULT_SERIAL2_OPTIONS), #endif #if HAL_HAVE_SERIAL3 // @Param: 3_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Serial3 options AP_GROUPINFO("3_OPTIONS", 16, AP_SerialManager, state[3].options, DEFAULT_SERIAL3_OPTIONS), #endif #if HAL_HAVE_SERIAL4 // @Param: 4_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Serial4 options AP_GROUPINFO("4_OPTIONS", 17, AP_SerialManager, state[4].options, DEFAULT_SERIAL4_OPTIONS), #endif #if HAL_HAVE_SERIAL5 // @Param: 5_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Serial5 options AP_GROUPINFO("5_OPTIONS", 18, AP_SerialManager, state[5].options, DEFAULT_SERIAL5_OPTIONS), #endif #if HAL_HAVE_SERIAL6 // @Param: 6_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Serial6 options AP_GROUPINFO("6_OPTIONS", 19, AP_SerialManager, state[6].options, DEFAULT_SERIAL6_OPTIONS), #endif // @Param: _PASS1 // @DisplayName: Serial passthru first port // @Description: This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port // @Values: -1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6 // @User: Advanced AP_GROUPINFO("_PASS1", 20, AP_SerialManager, passthru_port1, 0), // @Param: _PASS2 // @DisplayName: Serial passthru second port // @Description: This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port // @Values: -1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6 // @User: Advanced AP_GROUPINFO("_PASS2", 21, AP_SerialManager, passthru_port2, -1), // @Param: _PASSTIMO // @DisplayName: Serial passthru timeout // @Description: This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. // @Range: 0 120 // @Units: s // @User: Advanced AP_GROUPINFO("_PASSTIMO", 22, AP_SerialManager, passthru_timeout, 15), #if HAL_HAVE_SERIAL7 // @Param: 7_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Serial7 protocol selection // @Description: Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("7_PROTOCOL", 23, AP_SerialManager, state[7].protocol, DEFAULT_SERIAL7_PROTOCOL), // @Param: 7_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Serial 7 Baud Rate // @Description: The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("7_BAUD", 24, AP_SerialManager, state[7].baud, DEFAULT_SERIAL7_BAUD), // @Param: 7_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Serial7 options AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0), #endif #if HAL_HAVE_SERIAL8 // @Param: 8_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Serial8 protocol selection // @Description: Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("8_PROTOCOL", 26, AP_SerialManager, state[8].protocol, DEFAULT_SERIAL8_PROTOCOL), // @Param: 8_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Serial 8 Baud Rate // @Description: The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("8_BAUD", 27, AP_SerialManager, state[8].baud, DEFAULT_SERIAL8_BAUD), // @Param: 8_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Serial8 options AP_GROUPINFO("8_OPTIONS", 28, AP_SerialManager, state[8].options, 0), #endif #if HAL_HAVE_SERIAL9 // @Param: 9_PROTOCOL // @CopyFieldsFrom: SERIAL1_PROTOCOL // @DisplayName: Serial9 protocol selection // @Description: Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. AP_GROUPINFO("9_PROTOCOL", 29, AP_SerialManager, state[9].protocol, DEFAULT_SERIAL9_PROTOCOL), // @Param: 9_BAUD // @CopyFieldsFrom: SERIAL1_BAUD // @DisplayName: Serial 9 Baud Rate // @Description: The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. AP_GROUPINFO("9_BAUD", 30, AP_SerialManager, state[9].baud, DEFAULT_SERIAL9_BAUD), // @Param: 9_OPTIONS // @CopyFieldsFrom: SERIAL1_OPTIONS // @DisplayName: Serial9 options AP_GROUPINFO("9_OPTIONS", 31, AP_SerialManager, state[9].options, DEFAULT_SERIAL9_OPTIONS), #endif AP_GROUPEND }; // singleton instance AP_SerialManager *AP_SerialManager::_singleton; // Constructor AP_SerialManager::AP_SerialManager() { _singleton = this; // setup parameter defaults AP_Param::setup_object_defaults(this, var_info); } // init_console - initialise console at default baud rate void AP_SerialManager::init_console() { // initialise console immediately at default size and baud #if SERIALMANAGER_NUM_PORTS > 0 if (!init_console_done) { init_console_done = true; hal.serial(0)->begin(DEFAULT_SERIAL0_BAUD, AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX, AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX); } #endif } // init - // init - initialise serial ports void AP_SerialManager::init() { // always reset passthru port2 on boot passthru_port2.set_and_save_ifchanged(-1); #ifdef HAL_OTG1_CONFIG /* prevent users from changing USB protocol to other than MAVLink. This fixes an issue where users trying to get SLCAN change SERIAL0_PROTOCOL to 22 and find they can no longer connect */ if (state[0].protocol != SerialProtocol_MAVLink && state[0].protocol != SerialProtocol_MAVLink2) { state[0].protocol.set(SerialProtocol_MAVLink2); } #endif init_console(); // initialise serial ports for (uint8_t i=1; idisable_rxtx(); #endif break; case SerialProtocol_Console: case SerialProtocol_MAVLink: case SerialProtocol_MAVLink2: case SerialProtocol_MAVLinkHL: uart->begin(state[i].baudrate(), AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX, AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX); break; case SerialProtocol_FrSky_D: // Note baudrate is hardcoded to 9600 state[i].baud.set_and_default(AP_SERIALMANAGER_FRSKY_D_BAUD/1000); // update baud param in case user looks at it // begin is handled by AP_Frsky_telem library break; case SerialProtocol_FrSky_SPort: case SerialProtocol_FrSky_SPort_Passthrough: // Note baudrate is hardcoded to 57600 state[i].baud.set_and_default(AP_SERIALMANAGER_FRSKY_SPORT_BAUD/1000); // update baud param in case user looks at it // begin is handled by AP_Frsky_telem library break; case SerialProtocol_GPS: case SerialProtocol_GPS2: uart->begin(state[i].baudrate(), AP_SERIALMANAGER_GPS_BUFSIZE_RX, AP_SERIALMANAGER_GPS_BUFSIZE_TX); break; case SerialProtocol_AlexMos: // Note baudrate is hardcoded to 115200 state[i].baud.set_and_default(AP_SERIALMANAGER_ALEXMOS_BAUD / 1000); // update baud param in case user looks at it uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD, AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX, AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX); break; case SerialProtocol_Gimbal: // Note baudrate is hardcoded to 115200 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(), AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX, AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX); break; case SerialProtocol_Aerotenna_USD1: state[i].protocol.set_and_save(SerialProtocol_Rangefinder); break; case SerialProtocol_Volz: // Note baudrate is hardcoded to 115200 state[i].baud.set_and_default(AP_SERIALMANAGER_VOLZ_BAUD); // update baud param in case user looks at it break; case SerialProtocol_Sbus1: state[i].baud.set_and_default(AP_SERIALMANAGER_SBUS1_BAUD / 1000); // update baud param in case user looks at it uart->begin(state[i].baudrate(), AP_SERIALMANAGER_SBUS1_BUFSIZE_RX, AP_SERIALMANAGER_SBUS1_BUFSIZE_TX); uart->configure_parity(2); // enable even parity uart->set_stop_bits(2); uart->set_unbuffered_writes(true); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; case SerialProtocol_ESCTelemetry: // ESC telemetry protocol from BLHeli32 ESCs. Note that baudrate is hardcoded to 115200 state[i].baud.set_and_default(115200 / 1000); uart->begin(state[i].baudrate(), 30, 30); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; case SerialProtocol_Robotis: uart->begin(state[i].baudrate(), AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX, AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX); uart->set_unbuffered_writes(true); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; case SerialProtocol_SLCAN: uart->begin(state[i].baudrate(), AP_SERIALMANAGER_SLCAN_BUFSIZE_RX, AP_SERIALMANAGER_SLCAN_BUFSIZE_TX); break; #if AP_RCPROTOCOL_ENABLED case SerialProtocol_RCIN: if (!AP::RC().has_uart()) { AP::RC().add_uart(uart); } else { GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SERIAL%u_PROTOCOL: duplicate RCIN not permitted", i); } break; #endif case SerialProtocol_EFI: state[i].baud.set_default(AP_SERIALMANAGER_EFI_MS_BAUD); uart->begin(state[i].baudrate(), AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX, AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; case SerialProtocol_Generator: break; #if HAL_MSP_ENABLED case SerialProtocol_MSP: case SerialProtocol_DJI_FPV: case SerialProtocol_MSP_DisplayPort: // baudrate defaults to 115200 state[i].baud.set_default(AP_SERIALMANAGER_MSP_BAUD/1000); uart->begin(state[i].baudrate(), AP_SERIALMANAGER_MSP_BUFSIZE_RX, AP_SERIALMANAGER_MSP_BUFSIZE_TX); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); // 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 #if AP_NETWORKING_BACKEND_PPP case SerialProtocol_PPP: uart->begin(state[i].baudrate(), AP_SERIALMANAGER_PPP_BUFSIZE_RX, AP_SERIALMANAGER_PPP_BUFSIZE_TX); break; #endif default: uart->begin(state[i].baudrate()); } } } } const AP_SerialManager::UARTState *AP_SerialManager::find_protocol_instance(enum SerialProtocol protocol, uint8_t instance) const { uint8_t found_instance = 0; // search for matching protocol for(uint8_t i=0; inext) { if (protocol_match(protocol, (enum SerialProtocol)p->state.protocol.get())) { if (found_instance == instance) { return &p->state; } found_instance++; } } #endif // if we got this far we did not find the uart return nullptr; } // find_serial - searches available serial ports for the first instance that allows the given protocol // instance should be zero if searching for the first instance, 1 for the second, etc // returns uart on success, nullptr if a serial port cannot be found AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol, uint8_t instance) const { const struct UARTState *_state = find_protocol_instance(protocol, instance); if (_state == nullptr) { return nullptr; } const uint8_t serial_idx = _state->idx; // set options before any user does begin() AP_HAL::UARTDriver *port = hal.serial(serial_idx); #if AP_SERIALMANAGER_REGISTER_ENABLED if (port == nullptr) { // look for a registered port for (auto p = registered_ports; p; p = p->next) { if (p->state.idx == serial_idx) { port = p; break; } } } #endif if (port) { port->set_options(_state->options); } return port; } // have_serial - return true if we have the given serial protocol configured bool AP_SerialManager::have_serial(enum SerialProtocol protocol, uint8_t instance) const { return find_protocol_instance(protocol, instance) != nullptr; } // find_baudrate - searches available serial ports for the first instance that allows the given protocol // instance should be zero if searching for the first instance, 1 for the second, etc // returns baudrate on success, 0 if a serial port cannot be found uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t instance) const { const struct UARTState *_state = find_protocol_instance(protocol, instance); if (_state == nullptr) { return 0; } return _state->baudrate(); } // find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found int8_t AP_SerialManager::find_portnum(enum SerialProtocol protocol, uint8_t instance) const { const struct UARTState *_state = find_protocol_instance(protocol, instance); if (_state == nullptr) { return -1; } return int8_t(_state->idx); } // get_serial_by_id - gets serial by serial id AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id) { if (id < SERIALMANAGER_NUM_PORTS) { return hal.serial(id); } #if AP_SERIALMANAGER_REGISTER_ENABLED for (auto p = registered_ports; p; p = p->next) { if (p->state.idx == id) { return (AP_HAL::UARTDriver *)p; } } #endif return nullptr; } /* get a UARTState by index */ const AP_SerialManager::UARTState *AP_SerialManager::get_state_by_id(uint8_t id) const { if (id < SERIALMANAGER_NUM_PORTS) { return &state[id]; } #if AP_SERIALMANAGER_REGISTER_ENABLED for (auto p = registered_ports; p; p = p->next) { if (p->state.idx == id) { return &p->state; } } #endif return nullptr; } /* * map from a 16 bit EEPROM baud rate to a real baud rate. For * stm32-based boards we can do 1.5MBit, although 921600 is more * reliable. */ uint32_t AP_SerialManager::map_baudrate(int32_t rate) { if (rate <= 0) { rate = 57; } switch (rate) { case 1: return 1200; case 2: return 2400; case 4: return 4800; case 9: return 9600; case 19: return 19200; case 38: return 38400; case 57: return 57600; case 100: return 100000; case 111: return 111100; case 115: return 115200; case 230: return 230400; case 256: return 256000; case 460: return 460800; case 500: return 500000; case 921: return 921600; case 1500: return 1500000; case 2000: return 2000000; } if (rate > 2000) { // assume it is a direct baudrate. This allows for users to // set an exact baudrate as long as it is over 2000 baud return (uint32_t)rate; } // otherwise allow any other kbaud rate return rate*1000; } // protocol_match - returns true if the protocols match bool AP_SerialManager::protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const { // check for obvious match if (protocol1 == protocol2) { return true; } // mavlink match if (((protocol1 == SerialProtocol_MAVLink) || (protocol1 == SerialProtocol_MAVLink2) || (protocol1 == SerialProtocol_MAVLinkHL)) && ((protocol2 == SerialProtocol_MAVLink) || (protocol2 == SerialProtocol_MAVLink2) || (protocol2 == SerialProtocol_MAVLinkHL))) { return true; } // gps match if (((protocol1 == SerialProtocol_GPS) || (protocol1 == SerialProtocol_GPS2)) && ((protocol2 == SerialProtocol_GPS) || (protocol2 == SerialProtocol_GPS2))) { return true; } return false; } // setup any special options void AP_SerialManager::set_options(uint16_t i) { struct UARTState &opt = state[i]; // pass through to HAL if (!hal.serial(i)->set_options(opt.options)) { DEV_PRINTF("Unable to setup options for Serial%u\n", i); } } // get the passthru ports if enabled bool AP_SerialManager::get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s, uint32_t &baud1, uint32_t &baud2) { if (passthru_port2 < 0 || passthru_port1 < 0) { return false; } port1 = get_serial_by_id(passthru_port1); port2 = get_serial_by_id(passthru_port2); if (port1 == nullptr || port2 == nullptr) { return false; } const auto *state1 = get_state_by_id(passthru_port1); const auto *state2 = get_state_by_id(passthru_port2); if (!state1 || !state2) { return false; } baud1 = state1->baudrate(); baud2 = state2->baudrate(); timeout_s = MAX(passthru_timeout, 0); return true; } // disable passthru by settings SERIAL_PASS2 to -1 void AP_SerialManager::disable_passthru(void) { passthru_port2.set_and_notify(-1); } // accessor for AP_Periph to set baudrate and type void AP_SerialManager::set_protocol_and_baud(uint8_t sernum, enum SerialProtocol protocol, uint32_t baudrate) { if (sernum < SERIALMANAGER_NUM_PORTS) { state[sernum].protocol.set(protocol); state[sernum].baud.set(baudrate); } } #if AP_SERIALMANAGER_REGISTER_ENABLED /* register an external network port. It is up to the caller to use a unique id field using AP_SERIALMANAGER_NET_PORT_1 as the base id for NET_P1_* */ void AP_SerialManager::register_port(RegisteredPort *port) { const auto idx = port->state.idx; WITH_SEMAPHORE(port_sem); /* maintain the list in ID order */ if (registered_ports == nullptr || registered_ports->state.idx >= idx) { port->next = registered_ports; registered_ports = port; return; } for (auto p = registered_ports; p; p = p->next) { if (p->next == nullptr || p->next->state.idx >= idx) { port->next = p->next; p->next = port; break; } } } #endif // AP_SERIALMANAGER_REGISTER_ENABLED namespace AP { AP_SerialManager &serialmanager() { return *AP_SerialManager::get_singleton(); } } #endif // AP_SERIALMANAGER_ENABLED