mirror of https://github.com/ArduPilot/ardupilot
684 lines
32 KiB
C++
684 lines
32 KiB
C++
/*
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Please contribute your ideas! See http://dev.ardupilot.org for details
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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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/*
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SerialManager allows defining the protocol and baud rates for the available
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serial ports and provides helper functions so objects (like a gimbal) can
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find which serial port they should use
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_RCProtocol/AP_RCProtocol.h>
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#include "AP_SerialManager.h"
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extern const AP_HAL::HAL& hal;
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#ifdef HAL_SERIAL2_PROTOCOL
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#define SERIAL2_PROTOCOL HAL_SERIAL2_PROTOCOL
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#else
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#define SERIAL2_PROTOCOL SerialProtocol_MAVLink
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#endif
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#ifndef HAL_SERIAL3_PROTOCOL
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#define SERIAL3_PROTOCOL SerialProtocol_GPS
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#else
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#define SERIAL3_PROTOCOL HAL_SERIAL3_PROTOCOL
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#endif
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#ifndef HAL_SERIAL4_PROTOCOL
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#define SERIAL4_PROTOCOL SerialProtocol_GPS
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#else
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#define SERIAL4_PROTOCOL HAL_SERIAL4_PROTOCOL
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#endif
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#ifdef HAL_SERIAL5_PROTOCOL
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#define SERIAL5_PROTOCOL HAL_SERIAL5_PROTOCOL
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#define SERIAL5_BAUD HAL_SERIAL5_BAUD
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#else
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#define SERIAL5_PROTOCOL SerialProtocol_None
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#define SERIAL5_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
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#endif
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#ifndef HAL_SERIAL6_PROTOCOL
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#define SERIAL6_PROTOCOL SerialProtocol_None
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#define SERIAL6_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
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#else
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#define SERIAL6_PROTOCOL HAL_SERIAL6_PROTOCOL
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#define SERIAL6_BAUD HAL_SERIAL6_BAUD
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#endif
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#ifndef HAL_SERIAL7_PROTOCOL
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#define SERIAL7_PROTOCOL SerialProtocol_None
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#define SERIAL7_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
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#else
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#define SERIAL7_PROTOCOL HAL_SERIAL7_PROTOCOL
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#define SERIAL7_BAUD HAL_SERIAL7_BAUD
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#endif
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const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
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#if SERIALMANAGER_NUM_PORTS > 0
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// @Param: 0_BAUD
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// @DisplayName: Serial0 baud rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("0_BAUD", 0, AP_SerialManager, state[0].baud, AP_SERIALMANAGER_CONSOLE_BAUD/1000),
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// @Param: 0_PROTOCOL
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// @DisplayName: Console protocol selection
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// @Description: Control what protocol to use on the console.
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// @Values: 1:MAVlink1, 2:MAVLink2
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("0_PROTOCOL", 11, AP_SerialManager, state[0].protocol, SerialProtocol_MAVLink2),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 1
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// @Param: 1_PROTOCOL
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// @DisplayName: Telem1 protocol selection
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// @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @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
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
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// @Param: 1_BAUD
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// @DisplayName: Telem1 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("1_BAUD", 2, AP_SerialManager, state[1].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 2
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// @Param: 2_PROTOCOL
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// @DisplayName: Telemetry 2 protocol selection
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// @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @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
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SERIAL2_PROTOCOL),
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// @Param: 2_BAUD
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// @DisplayName: Telemetry 2 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("2_BAUD", 4, AP_SerialManager, state[2].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 3
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// @Param: 3_PROTOCOL
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// @DisplayName: Serial 3 (GPS) protocol selection
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// @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.
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// @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
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SERIAL3_PROTOCOL),
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// @Param: 3_BAUD
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// @DisplayName: Serial 3 (GPS) Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("3_BAUD", 6, AP_SerialManager, state[3].baud, AP_SERIALMANAGER_GPS_BAUD/1000),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 4
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// @Param: 4_PROTOCOL
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// @DisplayName: Serial4 protocol selection
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// @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @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
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SERIAL4_PROTOCOL),
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// @Param: 4_BAUD
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// @DisplayName: Serial 4 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("4_BAUD", 8, AP_SerialManager, state[4].baud, AP_SERIALMANAGER_GPS_BAUD/1000),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 5
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// @Param: 5_PROTOCOL
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// @DisplayName: Serial5 protocol selection
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// @Description: Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @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
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
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// @Param: 5_BAUD
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// @DisplayName: Serial 5 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("5_BAUD", 10, AP_SerialManager, state[5].baud, SERIAL5_BAUD),
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#endif
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// index 11 used by 0_PROTOCOL
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#if SERIALMANAGER_NUM_PORTS > 6
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// @Param: 6_PROTOCOL
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// @DisplayName: Serial6 protocol selection
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// @Description: Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @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
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("6_PROTOCOL", 12, AP_SerialManager, state[6].protocol, SERIAL6_PROTOCOL),
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// @Param: 6_BAUD
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// @DisplayName: Serial 6 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("6_BAUD", 13, AP_SerialManager, state[6].baud, SERIAL6_BAUD),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 1
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// @Param: 1_OPTIONS
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// @DisplayName: Telem1 options
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// @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.
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// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("1_OPTIONS", 14, AP_SerialManager, state[1].options, 0),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 2
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// @Param: 2_OPTIONS
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// @DisplayName: Telem2 options
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// @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.
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// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("2_OPTIONS", 15, AP_SerialManager, state[2].options, 0),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 3
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// @Param: 3_OPTIONS
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// @DisplayName: Serial3 options
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// @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.
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// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("3_OPTIONS", 16, AP_SerialManager, state[3].options, 0),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 4
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// @Param: 4_OPTIONS
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// @DisplayName: Serial4 options
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// @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.
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// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("4_OPTIONS", 17, AP_SerialManager, state[4].options, 0),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 5
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// @Param: 5_OPTIONS
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// @DisplayName: Serial5 options
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// @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.
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// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("5_OPTIONS", 18, AP_SerialManager, state[5].options, 0),
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#endif
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#if SERIALMANAGER_NUM_PORTS > 6
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// @Param: 6_OPTIONS
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// @DisplayName: Serial6 options
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// @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.
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// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("6_OPTIONS", 19, AP_SerialManager, state[6].options, 0),
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#endif
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// @Param: _PASS1
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// @DisplayName: Serial passthru first port
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// @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
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// @Values: -1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6
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// @User: Advanced
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AP_GROUPINFO("_PASS1", 20, AP_SerialManager, passthru_port1, 0),
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// @Param: _PASS2
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// @DisplayName: Serial passthru second port
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// @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
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// @Values: -1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6
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// @User: Advanced
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AP_GROUPINFO("_PASS2", 21, AP_SerialManager, passthru_port2, -1),
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// @Param: _PASSTIMO
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// @DisplayName: Serial passthru timeout
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// @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.
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// @Range: 0 120
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// @Units: s
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// @User: Advanced
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AP_GROUPINFO("_PASSTIMO", 22, AP_SerialManager, passthru_timeout, 15),
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#if SERIALMANAGER_NUM_PORTS > 7
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// @Param: 7_PROTOCOL
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// @DisplayName: Serial7 protocol selection
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// @Description: Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
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// @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
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("7_PROTOCOL", 23, AP_SerialManager, state[7].protocol, SERIAL7_PROTOCOL),
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// @Param: 7_BAUD
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// @DisplayName: Serial 7 Baud Rate
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// @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.
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// @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
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// @User: Standard
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AP_GROUPINFO("7_BAUD", 24, AP_SerialManager, state[7].baud, SERIAL7_BAUD),
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// @Param: 7_OPTIONS
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// @DisplayName: Serial7 options
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// @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.
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// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0),
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#endif
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AP_GROUPEND
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};
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// singleton instance
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AP_SerialManager *AP_SerialManager::_singleton;
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// Constructor
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AP_SerialManager::AP_SerialManager()
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{
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_singleton = this;
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// setup parameter defaults
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AP_Param::setup_object_defaults(this, var_info);
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}
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// init_console - initialise console at default baud rate
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void AP_SerialManager::init_console()
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{
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// initialise console immediately at default size and baud
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#if SERIALMANAGER_NUM_PORTS > 0
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state[0].uart = hal.uartA; // serial0, uartA, always console
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state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD,
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AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
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AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
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#endif
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}
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extern bool g_nsh_should_exit;
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// init - // init - initialise serial ports
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void AP_SerialManager::init()
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{
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// always reset passthru port2 on boot
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passthru_port2.set_and_save_ifchanged(-1);
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// initialise pointers to serial ports
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#if SERIALMANAGER_NUM_PORTS > 1
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state[1].uart = hal.uartC; // serial1, uartC, normally telem1
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#endif
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#if SERIALMANAGER_NUM_PORTS > 2
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state[2].uart = hal.uartD; // serial2, uartD, normally telem2
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#endif
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#if SERIALMANAGER_NUM_PORTS > 3
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state[3].uart = hal.uartB; // serial3, uartB, normally 1st GPS
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#endif
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#if SERIALMANAGER_NUM_PORTS > 4
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state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS
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#endif
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#if SERIALMANAGER_NUM_PORTS > 5
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state[5].uart = hal.uartF; // serial5
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#endif
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#if SERIALMANAGER_NUM_PORTS > 6
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state[6].uart = hal.uartG; // serial6
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#endif
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#if SERIALMANAGER_NUM_PORTS > 7
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state[7].uart = hal.uartH; // serial7
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#endif
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#ifdef HAL_OTG1_CONFIG
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/*
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prevent users from changing USB protocol to other than
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MAVLink. This fixes an issue where users trying to get SLCAN
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change SERIAL0_PROTOCOL to 22 and find they can no longer connect
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*/
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if (state[0].protocol != SerialProtocol_MAVLink &&
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state[0].protocol != SerialProtocol_MAVLink2) {
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state[0].protocol.set(SerialProtocol_MAVLink2);
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}
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#endif
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#if SERIALMANAGER_NUM_PORTS > 0
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if (state[0].uart == nullptr) {
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init_console();
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}
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#endif
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// initialise serial ports
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for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
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if (state[i].uart != nullptr) {
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// see if special options have been requested
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if (state[i].protocol != SerialProtocol_None && state[i].options) {
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set_options(i);
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}
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switch (state[i].protocol) {
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case SerialProtocol_None:
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break;
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case SerialProtocol_Console:
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case SerialProtocol_MAVLink:
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case SerialProtocol_MAVLink2:
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX,
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AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX);
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break;
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case SerialProtocol_FrSky_D:
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// Note baudrate is hardcoded to 9600
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state[i].baud = AP_SERIALMANAGER_FRSKY_D_BAUD/1000; // update baud param in case user looks at it
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// begin is handled by AP_Frsky_telem library
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break;
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case SerialProtocol_FrSky_SPort:
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case SerialProtocol_FrSky_SPort_Passthrough:
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// Note baudrate is hardcoded to 57600
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state[i].baud = AP_SERIALMANAGER_FRSKY_SPORT_BAUD/1000; // update baud param in case user looks at it
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// begin is handled by AP_Frsky_telem library
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break;
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case SerialProtocol_GPS:
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case SerialProtocol_GPS2:
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_GPS_BUFSIZE_RX,
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AP_SERIALMANAGER_GPS_BUFSIZE_TX);
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break;
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case SerialProtocol_AlexMos:
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// Note baudrate is hardcoded to 115200
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state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000; // update baud param in case user looks at it
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state[i].uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD,
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AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX,
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AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX);
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break;
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case SerialProtocol_SToRM32:
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// Note baudrate is hardcoded to 115200
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state[i].baud = AP_SERIALMANAGER_SToRM32_BAUD / 1000; // update baud param in case user looks at it
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_SToRM32_BUFSIZE_RX,
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AP_SERIALMANAGER_SToRM32_BUFSIZE_TX);
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break;
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case SerialProtocol_Aerotenna_uLanding:
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state[i].protocol.set_and_save(SerialProtocol_Rangefinder);
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break;
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case SerialProtocol_Volz:
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// Note baudrate is hardcoded to 115200
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state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_VOLZ_BUFSIZE_RX,
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AP_SERIALMANAGER_VOLZ_BUFSIZE_TX);
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state[i].uart->set_unbuffered_writes(true);
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state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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break;
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case SerialProtocol_Sbus1:
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state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000; // update baud param in case user looks at it
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_SBUS1_BUFSIZE_RX,
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AP_SERIALMANAGER_SBUS1_BUFSIZE_TX);
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state[i].uart->configure_parity(2); // enable even parity
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state[i].uart->set_stop_bits(2);
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state[i].uart->set_unbuffered_writes(true);
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state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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break;
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case SerialProtocol_ESCTelemetry:
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// ESC telemetry protocol from BLHeli32 ESCs. Note that baudrate is hardcoded to 115200
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state[i].baud = 115200;
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state[i].uart->begin(map_baudrate(state[i].baud), 30, 30);
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state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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break;
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case SerialProtocol_Robotis:
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX,
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AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX);
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state[i].uart->set_unbuffered_writes(true);
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state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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break;
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case SerialProtocol_SLCAN:
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state[i].uart->begin(map_baudrate(state[i].baud),
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AP_SERIALMANAGER_SLCAN_BUFSIZE_RX,
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AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
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break;
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#ifndef HAL_BUILD_AP_PERIPH
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case SerialProtocol_RCIN:
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AP::RC().add_uart(state[i].uart);
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break;
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#endif
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default:
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state[i].uart->begin(map_baudrate(state[i].baud));
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}
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}
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}
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}
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const AP_SerialManager::UARTState *AP_SerialManager::find_protocol_instance(enum SerialProtocol protocol, uint8_t instance) const
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{
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uint8_t found_instance = 0;
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// search for matching protocol
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for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
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if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
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if (found_instance == instance) {
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return &state[i];
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}
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found_instance++;
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}
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}
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// if we got this far we did not find the uart
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return nullptr;
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}
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// find_serial - searches available serial ports for the first instance that allows the given protocol
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// instance should be zero if searching for the first instance, 1 for the second, etc
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// returns uart on success, nullptr if a serial port cannot be found
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AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol, uint8_t instance) const
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{
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const struct UARTState *_state = find_protocol_instance(protocol, instance);
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if (_state == nullptr) {
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return nullptr;
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}
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return _state->uart;
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}
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// find_baudrate - searches available serial ports for the first instance that allows the given protocol
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// instance should be zero if searching for the first instance, 1 for the second, etc
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// returns baudrate on success, 0 if a serial port cannot be found
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uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t instance) const
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{
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const struct UARTState *_state = find_protocol_instance(protocol, instance);
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if (_state == nullptr) {
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return 0;
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}
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return map_baudrate(_state->baud);
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}
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// get_mavlink_channel - provides the mavlink channel associated with a given protocol
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// instance should be zero if searching for the first instance, 1 for the second, etc
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// returns true if a channel is found, false if not
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bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const
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{
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// check for MAVLink
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if (protocol_match(protocol, SerialProtocol_MAVLink)) {
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if (instance < MAVLINK_COMM_NUM_BUFFERS) {
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mav_chan = (mavlink_channel_t)(MAVLINK_COMM_0 + instance);
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return true;
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}
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}
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// report failure
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return false;
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}
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// get_mavlink_protocol - provides the specific MAVLink protocol for a
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// given channel, or SerialProtocol_None if not found
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AP_SerialManager::SerialProtocol AP_SerialManager::get_mavlink_protocol(mavlink_channel_t mav_chan) const
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{
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uint8_t instance = 0;
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uint8_t chan_idx = (uint8_t)(mav_chan - MAVLINK_COMM_0);
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for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
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if (state[i].protocol == SerialProtocol_MAVLink ||
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state[i].protocol == SerialProtocol_MAVLink2) {
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if (instance == chan_idx) {
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return (SerialProtocol)state[i].protocol.get();
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}
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instance++;
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}
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}
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return SerialProtocol_None;
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}
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// get_serial_by_id - gets serial by serial id
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AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id)
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{
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if (id < SERIALMANAGER_NUM_PORTS) {
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return state[id].uart;
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}
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return nullptr;
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}
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// set_blocking_writes_all - sets block_writes on or off for all serial channels
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void AP_SerialManager::set_blocking_writes_all(bool blocking)
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{
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// set block_writes for all initialised serial ports
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for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
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if (state[i].uart != nullptr) {
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state[i].uart->set_blocking_writes(blocking);
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}
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}
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}
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/*
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* map from a 16 bit EEPROM baud rate to a real baud rate. For
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* stm32-based boards we can do 1.5MBit, although 921600 is more
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* reliable.
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*/
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uint32_t AP_SerialManager::map_baudrate(int32_t rate) const
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{
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if (rate <= 0) {
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rate = 57;
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}
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switch (rate) {
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case 1: return 1200;
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case 2: return 2400;
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case 4: return 4800;
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case 9: return 9600;
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case 19: return 19200;
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case 38: return 38400;
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case 57: return 57600;
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case 100: return 100000;
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case 111: return 111100;
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case 115: return 115200;
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case 230: return 230400;
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case 256: return 256000;
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case 460: return 460800;
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case 500: return 500000;
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case 921: return 921600;
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case 1500: return 1500000;
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}
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if (rate > 2000) {
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// assume it is a direct baudrate. This allows for users to
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// set an exact baudrate as long as it is over 2000 baud
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return (uint32_t)rate;
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}
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// otherwise allow any other kbaud rate
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return rate*1000;
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}
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// protocol_match - returns true if the protocols match
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bool AP_SerialManager::protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const
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{
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// check for obvious match
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if (protocol1 == protocol2) {
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return true;
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}
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// mavlink match
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if (((protocol1 == SerialProtocol_MAVLink) || (protocol1 == SerialProtocol_MAVLink2)) &&
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((protocol2 == SerialProtocol_MAVLink) || (protocol2 == SerialProtocol_MAVLink2))) {
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return true;
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}
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// gps match
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if (((protocol1 == SerialProtocol_GPS) || (protocol1 == SerialProtocol_GPS2)) &&
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((protocol2 == SerialProtocol_GPS) || (protocol2 == SerialProtocol_GPS2))) {
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return true;
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}
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return false;
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}
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// setup any special options
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void AP_SerialManager::set_options(uint16_t i)
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{
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struct UARTState &opt = state[i];
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// pass through to HAL
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if (!opt.uart->set_options(opt.options)) {
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hal.console->printf("Unable to setup options for Serial%u\n", i);
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}
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}
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// get the passthru ports if enabled
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bool AP_SerialManager::get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s) const
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{
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if (passthru_port2 < 0 ||
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passthru_port2 >= SERIALMANAGER_NUM_PORTS ||
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passthru_port1 < 0 ||
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passthru_port1 >= SERIALMANAGER_NUM_PORTS) {
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return false;
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}
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port1 = state[passthru_port1].uart;
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port2 = state[passthru_port2].uart;
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timeout_s = MAX(passthru_timeout, 0);
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return true;
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}
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// disable passthru by settings SERIAL_PASS2 to -1
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void AP_SerialManager::disable_passthru(void)
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{
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passthru_port2.set_and_notify(-1);
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}
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namespace AP {
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|
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AP_SerialManager &serialmanager()
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{
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return *AP_SerialManager::get_singleton();
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}
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}
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