/* Please contribute your ideas! See http://dev.ardupilot.org 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 */ #pragma once #include #include #include #include // we have hal.uartA to hal.uartG #define SERIALMANAGER_NUM_PORTS 7 // console default baud rates and buffer sizes #ifdef HAL_SERIAL0_BAUD_DEFAULT # define AP_SERIALMANAGER_CONSOLE_BAUD HAL_SERIAL0_BAUD_DEFAULT #else # define AP_SERIALMANAGER_CONSOLE_BAUD 115200 #endif # define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX 128 # define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX 512 // mavlink default baud rates and buffer sizes #define AP_SERIALMANAGER_MAVLINK_BAUD 57600 #define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128 #define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256 // FrSky default baud rates, use default buffer sizes #define AP_SERIALMANAGER_FRSKY_D_BAUD 9600 #define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600 #define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX 0 #define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX 0 // GPS default baud rates and buffer sizes // we need a 256 byte buffer for some GPS types (eg. UBLOX) #define AP_SERIALMANAGER_GPS_BAUD 38400 #define AP_SERIALMANAGER_GPS_BUFSIZE_RX 256 #define AP_SERIALMANAGER_GPS_BUFSIZE_TX 16 // AlexMos Gimbal protocol default baud rates and buffer sizes #define AP_SERIALMANAGER_ALEXMOS_BAUD 115200 #define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128 #define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128 #define AP_SERIALMANAGER_SToRM32_BAUD 115200 #define AP_SERIALMANAGER_SToRM32_BUFSIZE_RX 128 #define AP_SERIALMANAGER_SToRM32_BUFSIZE_TX 128 #define AP_SERIALMANAGER_VOLZ_BAUD 115 #define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128 #define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128 // SBUS servo outputs #define AP_SERIALMANAGER_SBUS1_BAUD 100000 #define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16 #define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32 class AP_SerialManager { public: AP_SerialManager(); /* Do not allow copies */ AP_SerialManager(const AP_SerialManager &other) = delete; AP_SerialManager &operator=(const AP_SerialManager&) = delete; enum SerialProtocol { SerialProtocol_None = -1, SerialProtocol_Console = 0, // unused SerialProtocol_MAVLink = 1, SerialProtocol_MAVLink2 = 2, // do not use - use MAVLink and provide instance of 1 SerialProtocol_FrSky_D = 3, // FrSky D protocol (D-receivers) SerialProtocol_FrSky_SPort = 4, // FrSky SPort protocol (X-receivers) SerialProtocol_GPS = 5, SerialProtocol_GPS2 = 6, // do not use - use GPS and provide instance of 1 SerialProtocol_AlexMos = 7, SerialProtocol_SToRM32 = 8, SerialProtocol_Rangefinder = 9, SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers) SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2 SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support - deprecated, users should use Rangefinder SerialProtocol_Beacon = 13, SerialProtocol_Volz = 14, // Volz servo protocol SerialProtocol_Sbus1 = 15, SerialProtocol_ESCTelemetry = 16, SerialProtocol_Devo_Telem = 17, SerialProtocol_OpticalFlow = 18, }; // get singleton instance static AP_SerialManager *get_instance(void) { return _instance; } // init_console - initialise console at default baud rate void init_console(); // init - initialise serial ports void init(); // find_serial - searches available serial ports 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 *find_serial(enum SerialProtocol protocol, uint8_t instance) const; // 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 the baudrate of that protocol on success, 0 if a serial port cannot be found uint32_t find_baudrate(enum SerialProtocol protocol, uint8_t instance) const; // get_mavlink_channel - provides the mavlink channel associated with a given protocol (and instance) // instance should be zero if searching for the first instance, 1 for the second, etc // returns true if a channel is found, false if not bool get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const; // get_mavlink_protocol - provides the specific MAVLink protocol for a // given channel, or SerialProtocol_None if not found SerialProtocol get_mavlink_protocol(mavlink_channel_t mav_chan) const; // set_blocking_writes_all - sets block_writes on or off for all serial channels void set_blocking_writes_all(bool blocking); // parameter var table static const struct AP_Param::GroupInfo var_info[]; private: static AP_SerialManager *_instance; // array of uart info struct UARTState { AP_Int8 protocol; AP_Int32 baud; AP_HAL::UARTDriver* uart; } state[SERIALMANAGER_NUM_PORTS]; // search through managed serial connections looking for the // instance-nth UART which is running protocol protocol const UARTState *find_protocol_instance(enum SerialProtocol protocol, uint8_t instance) const; uint32_t map_baudrate(int32_t rate) const; // protocol_match - returns true if the protocols match bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const; }; namespace AP { AP_SerialManager &serialmanager(); };