/* 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 */ #pragma once #include "AP_SerialManager_config.h" #include class AP_SerialManager { public: AP_SerialManager(); /* Do not allow copies */ CLASS_NO_COPY(AP_SerialManager); 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_Gimbal = 8, // SToRM32, Siyi custom serial protocols 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_USD1 = 12, // USD1 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, SerialProtocol_Robotis = 19, SerialProtocol_NMEAOutput = 20, SerialProtocol_WindVane = 21, SerialProtocol_SLCAN = 22, SerialProtocol_RCIN = 23, SerialProtocol_EFI = 24, // EFI serial protocol SerialProtocol_LTM_Telem = 25, SerialProtocol_RunCam = 26, SerialProtocol_Hott = 27, SerialProtocol_Scripting = 28, SerialProtocol_CRSF = 29, SerialProtocol_Generator = 30, SerialProtocol_Winch = 31, SerialProtocol_MSP = 32, SerialProtocol_DJI_FPV = 33, SerialProtocol_AirSpeed = 34, SerialProtocol_ADSB = 35, SerialProtocol_AHRS = 36, SerialProtocol_SmartAudio = 37, SerialProtocol_FETtecOneWire = 38, SerialProtocol_Torqeedo = 39, SerialProtocol_AIS = 40, SerialProtocol_CoDevESC = 41, SerialProtocol_MSP_DisplayPort = 42, SerialProtocol_MAVLinkHL = 43, SerialProtocol_Tramp = 44, SerialProtocol_DDS_XRCE = 45, SerialProtocol_IMUOUT = 46, SerialProtocol_NumProtocols // must be the last value }; // get singleton instance static AP_SerialManager *get_singleton(void) { return _singleton; } // 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 // note that the SERIALn_OPTIONS are applied if the port is found AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol, uint8_t instance) const; // have_serial - return true if we have the corresponding serial protocol configured bool have_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; // find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found int8_t find_portnum(enum SerialProtocol protocol, uint8_t instance) const; // get the passthru ports if enabled bool get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s, uint32_t &baud1, uint32_t &baud2); // disable passthru by settings SERIAL_PASS2 to -1 void disable_passthru(void); // get Serial Port AP_HAL::UARTDriver *get_serial_by_id(uint8_t id); // accessors for AP_Periph to set baudrate and type void set_protocol_and_baud(uint8_t sernum, enum SerialProtocol protocol, uint32_t baudrate); static uint32_t map_baudrate(int32_t rate); // parameter var table static const struct AP_Param::GroupInfo var_info[]; class UARTState { friend class AP_SerialManager; public: bool option_enabled(uint16_t option) const { return (options & option) == option; } // returns a baudrate such as 9600. May map from a special // parameter value like "57" to "57600": uint32_t baudrate() const { return AP_SerialManager::map_baudrate(baud); } AP_SerialManager::SerialProtocol get_protocol() const { return AP_SerialManager::SerialProtocol(protocol.get()); } AP_Int32 baud; AP_Int16 options; AP_Int8 protocol; // serial index number uint8_t idx; }; // get a state from serial index const UARTState *get_state_by_id(uint8_t id) const; // search through managed serial connections looking for the // instance-nth UART which is running protocol protocol. // protocol_match is used to determine equivalence of one protocol // to another, e.g. MAVLink2 is considered MAVLink1 for finding // mavlink1 protocol instances. const UARTState *find_protocol_instance(enum SerialProtocol protocol, uint8_t instance) const; #if AP_SERIALMANAGER_REGISTER_ENABLED /* a class for a externally registered port used by AP_Networking */ class RegisteredPort : public AP_HAL::UARTDriver { public: RegisteredPort *next; UARTState state; }; RegisteredPort *registered_ports; HAL_Semaphore port_sem; // register an externally managed port void register_port(RegisteredPort *port); #endif // AP_SERIALMANAGER_REGISTER_ENABLED private: static AP_SerialManager *_singleton; // array of uart info. See comment above about // SERIALMANAGER_MAX_PORTS UARTState state[SERIALMANAGER_MAX_PORTS]; // pass-through serial support AP_Int8 passthru_port1; AP_Int8 passthru_port2; AP_Int8 passthru_timeout; // protocol_match - returns true if the protocols match bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const; // setup any special options void set_options(uint16_t i); bool init_console_done; }; namespace AP { AP_SerialManager &serialmanager(); };