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ardupilot/libraries/AP_SerialManager/AP_SerialManager.h

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/*
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 <http://www.gnu.org/licenses/>.
*/
/*
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_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#ifdef HAL_UART_NUM_SERIAL_PORTS
#if HAL_UART_NUM_SERIAL_PORTS >= 4
#define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
#else
// we need a minimum of 4 to allow for a GPS due to the odd ordering
// of hal.uartB as SERIAL3
#define SERIALMANAGER_NUM_PORTS 4
#endif
#else
// assume max 8 ports
#define SERIALMANAGER_NUM_PORTS 8
#endif
#ifndef HAL_NUM_SERIAL_PORTS
#define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS
#endif
#ifndef HAL_HAVE_SERIAL0
#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
#endif
#ifndef HAL_HAVE_SERIAL1
#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
#endif
#ifndef HAL_HAVE_SERIAL2
#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
#endif
#ifndef HAL_HAVE_SERIAL3
#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
#endif
#ifndef HAL_HAVE_SERIAL4
#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
#endif
#ifndef HAL_HAVE_SERIAL5
#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
#endif
#ifndef HAL_HAVE_SERIAL6
#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
#endif
#ifndef HAL_HAVE_SERIAL7
#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
#endif
#ifndef HAL_HAVE_SERIAL8
#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
#endif
#ifndef HAL_HAVE_SERIAL9
#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
#endif
/*
array size for state[]. This needs to be at least
SERIALMANAGER_NUM_PORTS, but we want it to be the same length on
similar boards to get the ccache efficiency up. This wastes a small
amount of memory, but makes a huge difference to the build times
*/
#if SERIALMANAGER_NUM_PORTS > 10 || SERIALMANAGER_NUM_PORTS < 5
#define SERIALMANAGER_MAX_PORTS SERIALMANAGER_NUM_PORTS
#else
#define SERIALMANAGER_MAX_PORTS 10
#endif
// console default baud rates and buffer sizes
#ifdef DEFAULT_SERIAL0_BAUD
#define AP_SERIALMANAGER_CONSOLE_BAUD DEFAULT_SERIAL0_BAUD
#else
#define AP_SERIALMANAGER_CONSOLE_BAUD 115200
#endif
#define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX 128
#define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX 512
// mavlink default baud rates and buffer sizes
#define AP_SERIALMANAGER_MAVLINK_BAUD 57600
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256
// LTM buffer sizes
#define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0
#define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32
// FrSky default baud rates, use default buffer sizes
#define AP_SERIALMANAGER_FRSKY_D_BAUD 9600
#define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600
#define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX 0
#define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX 0
// GPS default baud rates and buffer sizes
// we need a 256 byte buffer for some GPS types (eg. UBLOX)
#define AP_SERIALMANAGER_GPS_BAUD 38400
#define AP_SERIALMANAGER_GPS_BUFSIZE_RX 256
#define AP_SERIALMANAGER_GPS_BUFSIZE_TX 16
// AlexMos Gimbal protocol default baud rates and buffer sizes
#define AP_SERIALMANAGER_ALEXMOS_BAUD 115200
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128
#define AP_SERIALMANAGER_GIMBAL_BAUD 115200
#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128
#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX 128
#define AP_SERIALMANAGER_VOLZ_BAUD 115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX 128
// MegaSquirt EFI protocol
#define AP_SERIALMANAGER_EFI_MS_BAUD 115
#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX 512
#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX 16
// SBUS servo outputs
#define AP_SERIALMANAGER_SBUS1_BAUD 100000
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32
#define AP_SERIALMANAGER_SLCAN_BAUD 115200
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX 128
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX 128
// MSP protocol default buffer sizes
#define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128
#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
#define AP_SERIALMANAGER_MSP_BAUD 115200
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_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) const;
// 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());
}
private:
AP_Int32 baud;
AP_Int16 options;
AP_Int8 protocol;
};
// 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;
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();
};
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