/* Please contribute your ideas! See https://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 */ #include #include #include #include "AP_SerialManager.h" extern const AP_HAL::HAL& hal; #ifdef HAL_SERIAL2_PROTOCOL #define SERIAL2_PROTOCOL HAL_SERIAL2_PROTOCOL #else #define SERIAL2_PROTOCOL SerialProtocol_MAVLink #endif #ifndef HAL_SERIAL3_PROTOCOL #define SERIAL3_PROTOCOL SerialProtocol_GPS #else #define SERIAL3_PROTOCOL HAL_SERIAL3_PROTOCOL #endif #ifndef HAL_SERIAL4_PROTOCOL #define SERIAL4_PROTOCOL SerialProtocol_GPS #else #define SERIAL4_PROTOCOL HAL_SERIAL4_PROTOCOL #endif #ifdef HAL_SERIAL5_PROTOCOL #define SERIAL5_PROTOCOL HAL_SERIAL5_PROTOCOL #define SERIAL5_BAUD HAL_SERIAL5_BAUD #else #define SERIAL5_PROTOCOL SerialProtocol_None #define SERIAL5_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #endif #ifndef HAL_SERIAL6_PROTOCOL #define SERIAL6_PROTOCOL SerialProtocol_None #define SERIAL6_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #else #define SERIAL6_PROTOCOL HAL_SERIAL6_PROTOCOL #define SERIAL6_BAUD HAL_SERIAL6_BAUD #endif #ifndef HAL_SERIAL7_PROTOCOL #define SERIAL7_PROTOCOL SerialProtocol_None #define SERIAL7_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 #else #define SERIAL7_PROTOCOL HAL_SERIAL7_PROTOCOL #define SERIAL7_BAUD HAL_SERIAL7_BAUD #endif const AP_Param::GroupInfo AP_SerialManager::var_info[] = { #if SERIALMANAGER_NUM_PORTS > 0 // @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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,460:460800,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("0_BAUD", 0, AP_SerialManager, state[0].baud, AP_SERIALMANAGER_CONSOLE_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 SERIALMANAGER_NUM_PORTS > 1 // @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: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:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting // @User: Standard // @RebootRequired: True AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink), // @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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("1_BAUD", 2, AP_SerialManager, state[1].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000), #endif #if SERIALMANAGER_NUM_PORTS > 2 // @Param: 2_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. // @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:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting // @User: Standard // @RebootRequired: True AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SERIAL2_PROTOCOL), // @Param: 2_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. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("2_BAUD", 4, AP_SerialManager, state[2].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000), #endif #if SERIALMANAGER_NUM_PORTS > 3 // @Param: 3_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. // @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:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting // @User: Standard // @RebootRequired: True AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SERIAL3_PROTOCOL), // @Param: 3_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. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("3_BAUD", 6, AP_SerialManager, state[3].baud, AP_SERIALMANAGER_GPS_BAUD/1000), #endif #if SERIALMANAGER_NUM_PORTS > 4 // @Param: 4_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. // @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:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting // @User: Standard // @RebootRequired: True AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SERIAL4_PROTOCOL), // @Param: 4_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. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("4_BAUD", 8, AP_SerialManager, state[4].baud, AP_SERIALMANAGER_GPS_BAUD/1000), #endif #if SERIALMANAGER_NUM_PORTS > 5 // @Param: 5_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. // @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:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting // @User: Standard // @RebootRequired: True AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL), // @Param: 5_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. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("5_BAUD", 10, AP_SerialManager, state[5].baud, SERIAL5_BAUD), #endif // index 11 used by 0_PROTOCOL #if SERIALMANAGER_NUM_PORTS > 6 // @Param: 6_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. // @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:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting // @User: Standard // @RebootRequired: True AP_GROUPINFO("6_PROTOCOL", 12, AP_SerialManager, state[6].protocol, SERIAL6_PROTOCOL), // @Param: 6_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. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("6_BAUD", 13, AP_SerialManager, state[6].baud, SERIAL6_BAUD), #endif #if SERIALMANAGER_NUM_PORTS > 1 // @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:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA // @User: Advanced // @RebootRequired: True AP_GROUPINFO("1_OPTIONS", 14, AP_SerialManager, state[1].options, 0), #endif #if SERIALMANAGER_NUM_PORTS > 2 // @Param: 2_OPTIONS // @DisplayName: Telem2 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. // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA // @User: Advanced // @RebootRequired: True AP_GROUPINFO("2_OPTIONS", 15, AP_SerialManager, state[2].options, 0), #endif #if SERIALMANAGER_NUM_PORTS > 3 // @Param: 3_OPTIONS // @DisplayName: Serial3 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. // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA // @User: Advanced // @RebootRequired: True AP_GROUPINFO("3_OPTIONS", 16, AP_SerialManager, state[3].options, 0), #endif #if SERIALMANAGER_NUM_PORTS > 4 // @Param: 4_OPTIONS // @DisplayName: Serial4 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. // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA // @User: Advanced // @RebootRequired: True AP_GROUPINFO("4_OPTIONS", 17, AP_SerialManager, state[4].options, 0), #endif #if SERIALMANAGER_NUM_PORTS > 5 // @Param: 5_OPTIONS // @DisplayName: Serial5 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. // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA // @User: Advanced // @RebootRequired: True AP_GROUPINFO("5_OPTIONS", 18, AP_SerialManager, state[5].options, 0), #endif #if SERIALMANAGER_NUM_PORTS > 6 // @Param: 6_OPTIONS // @DisplayName: Serial6 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. // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA // @User: Advanced // @RebootRequired: True AP_GROUPINFO("6_OPTIONS", 19, AP_SerialManager, state[6].options, 0), #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 SERIALMANAGER_NUM_PORTS > 7 // @Param: 7_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. // @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:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting // @User: Standard // @RebootRequired: True AP_GROUPINFO("7_PROTOCOL", 23, AP_SerialManager, state[7].protocol, SERIAL7_PROTOCOL), // @Param: 7_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. // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,256:256000,500:500000,921:921600,1500:1500000 // @User: Standard AP_GROUPINFO("7_BAUD", 24, AP_SerialManager, state[7].baud, SERIAL7_BAUD), // @Param: 7_OPTIONS // @DisplayName: Serial7 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. // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA // @User: Advanced // @RebootRequired: True AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0), #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 state[0].uart = hal.uartA; // serial0, uartA, always console state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD, AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX, AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX); #endif } extern bool g_nsh_should_exit; // init - // init - initialise serial ports void AP_SerialManager::init() { // always reset passthru port2 on boot passthru_port2.set_and_save_ifchanged(-1); // initialise pointers to serial ports #if SERIALMANAGER_NUM_PORTS > 1 state[1].uart = hal.uartC; // serial1, uartC, normally telem1 #endif #if SERIALMANAGER_NUM_PORTS > 2 state[2].uart = hal.uartD; // serial2, uartD, normally telem2 #endif #if SERIALMANAGER_NUM_PORTS > 3 state[3].uart = hal.uartB; // serial3, uartB, normally 1st GPS #endif #if SERIALMANAGER_NUM_PORTS > 4 state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS #endif #if SERIALMANAGER_NUM_PORTS > 5 state[5].uart = hal.uartF; // serial5 #endif #if SERIALMANAGER_NUM_PORTS > 6 state[6].uart = hal.uartG; // serial6 #endif #if SERIALMANAGER_NUM_PORTS > 7 state[7].uart = hal.uartH; // serial7 #endif #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 #if SERIALMANAGER_NUM_PORTS > 0 if (state[0].uart == nullptr) { init_console(); } #endif // initialise serial ports for (uint8_t i=1; ibegin(map_baudrate(state[i].baud), AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX, AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX); break; case SerialProtocol_FrSky_D: // Note baudrate is hardcoded to 9600 state[i].baud = 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 = 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: state[i].uart->begin(map_baudrate(state[i].baud), AP_SERIALMANAGER_GPS_BUFSIZE_RX, AP_SERIALMANAGER_GPS_BUFSIZE_TX); break; case SerialProtocol_AlexMos: // Note baudrate is hardcoded to 115200 state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000; // update baud param in case user looks at it state[i].uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD, AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX, AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX); break; case SerialProtocol_SToRM32: // Note baudrate is hardcoded to 115200 state[i].baud = AP_SERIALMANAGER_SToRM32_BAUD / 1000; // update baud param in case user looks at it state[i].uart->begin(map_baudrate(state[i].baud), AP_SERIALMANAGER_SToRM32_BUFSIZE_RX, AP_SERIALMANAGER_SToRM32_BUFSIZE_TX); break; case SerialProtocol_Aerotenna_uLanding: state[i].protocol.set_and_save(SerialProtocol_Rangefinder); break; case SerialProtocol_Volz: // Note baudrate is hardcoded to 115200 state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it state[i].uart->begin(map_baudrate(state[i].baud), AP_SERIALMANAGER_VOLZ_BUFSIZE_RX, AP_SERIALMANAGER_VOLZ_BUFSIZE_TX); state[i].uart->set_unbuffered_writes(true); state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; case SerialProtocol_Sbus1: state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000; // update baud param in case user looks at it state[i].uart->begin(map_baudrate(state[i].baud), AP_SERIALMANAGER_SBUS1_BUFSIZE_RX, AP_SERIALMANAGER_SBUS1_BUFSIZE_TX); state[i].uart->configure_parity(2); // enable even parity state[i].uart->set_stop_bits(2); state[i].uart->set_unbuffered_writes(true); state[i].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 = 115200; state[i].uart->begin(map_baudrate(state[i].baud), 30, 30); state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; case SerialProtocol_Robotis: state[i].uart->begin(map_baudrate(state[i].baud), AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX, AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX); state[i].uart->set_unbuffered_writes(true); state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; case SerialProtocol_SLCAN: state[i].uart->begin(map_baudrate(state[i].baud), AP_SERIALMANAGER_SLCAN_BUFSIZE_RX, AP_SERIALMANAGER_SLCAN_BUFSIZE_TX); break; #ifndef HAL_BUILD_AP_PERIPH case SerialProtocol_RCIN: AP::RC().add_uart(state[i].uart); break; #endif case SerialProtocol_EFI_MS: state[i].baud = AP_SERIALMANAGER_EFI_MS_BAUD; // update baud param in case user looks at it state[i].uart->begin(map_baudrate(state[i].baud), AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX, AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX); state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); break; default: state[i].uart->begin(map_baudrate(state[i].baud)); } } } } 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; iuart; } // 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 map_baudrate(_state->baud); } // get_mavlink_channel - provides the mavlink channel associated with a given protocol // 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 AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const { // check for MAVLink if (protocol_match(protocol, SerialProtocol_MAVLink)) { if (instance < MAVLINK_COMM_NUM_BUFFERS) { mav_chan = (mavlink_channel_t)(MAVLINK_COMM_0 + instance); return true; } } // report failure return false; } // get_mavlink_protocol - provides the specific MAVLink protocol for a // given channel, or SerialProtocol_None if not found AP_SerialManager::SerialProtocol AP_SerialManager::get_mavlink_protocol(mavlink_channel_t mav_chan) const { uint8_t instance = 0; uint8_t chan_idx = (uint8_t)(mav_chan - MAVLINK_COMM_0); for (uint8_t i=0; iset_blocking_writes(blocking); } } } /* * 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; } 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)) && ((protocol2 == SerialProtocol_MAVLink) || (protocol2 == SerialProtocol_MAVLink2))) { 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 (!opt.uart->set_options(opt.options)) { hal.console->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) const { if (passthru_port2 < 0 || passthru_port2 >= SERIALMANAGER_NUM_PORTS || passthru_port1 < 0 || passthru_port1 >= SERIALMANAGER_NUM_PORTS) { return false; } port1 = state[passthru_port1].uart; port2 = state[passthru_port2].uart; 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 <= ARRAY_SIZE(state)) { state[sernum].protocol.set(protocol); state[sernum].baud.set(baudrate); } } namespace AP { AP_SerialManager &serialmanager() { return *AP_SerialManager::get_singleton(); } }