mirror of https://github.com/ArduPilot/ardupilot
145 lines
5.8 KiB
C++
145 lines
5.8 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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#pragma once
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#define SERIALMANAGER_NUM_PORTS 6
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// console default baud rates and buffer sizes
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#ifdef HAL_SERIAL0_BAUD_DEFAULT
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# define AP_SERIALMANAGER_CONSOLE_BAUD HAL_SERIAL0_BAUD_DEFAULT
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#else
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# define AP_SERIALMANAGER_CONSOLE_BAUD 115200
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#endif
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# define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX 128
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# define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX 512
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// mavlink default baud rates and buffer sizes
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#define AP_SERIALMANAGER_MAVLINK_BAUD 57600
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#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256
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// FrSky default baud rates, use default buffer sizes
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#define AP_SERIALMANAGER_FRSKY_D_BAUD 9600
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#define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600
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#define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX 0
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#define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX 0
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// GPS default baud rates and buffer sizes
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// we need a 256 byte buffer for some GPS types (eg. UBLOX)
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#define AP_SERIALMANAGER_GPS_BAUD 38400
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#define AP_SERIALMANAGER_GPS_BUFSIZE_RX 256
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#define AP_SERIALMANAGER_GPS_BUFSIZE_TX 16
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// AlexMos Gimbal protocol default baud rates and buffer sizes
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#define AP_SERIALMANAGER_ALEXMOS_BAUD 115200
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#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_SToRM32_BAUD 115200
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#define AP_SERIALMANAGER_SToRM32_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_SToRM32_BUFSIZE_TX 128
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// Aerotenne uLanding Altimeter
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// Note that size of UART FIFO is 128 for Altera-OcPoc board
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#define AP_SERIALMANAGER_ULANDING_BAUD 115200
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#define AP_SERIALMANAGER_ULANDING_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_ULANDING_BUFSIZE_TX 128
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class AP_SerialManager {
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public:
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enum SerialProtocol {
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SerialProtocol_None = -1,
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SerialProtocol_Console = 0, // unused
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SerialProtocol_MAVLink = 1,
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SerialProtocol_MAVLink2 = 2, // do not use - use MAVLink and provide instance of 1
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SerialProtocol_FrSky_D = 3, // FrSky D protocol (D-receivers)
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SerialProtocol_FrSky_SPort = 4, // FrSky SPort protocol (X-receivers)
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SerialProtocol_GPS = 5,
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SerialProtocol_GPS2 = 6, // do not use - use GPS and provide instance of 1
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SerialProtocol_AlexMos = 7,
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SerialProtocol_SToRM32 = 8,
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SerialProtocol_Lidar = 9,
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SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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SerialProtocol_Lidar360 = 11,
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SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support
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};
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// Constructor
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AP_SerialManager();
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// init_console - initialise console at default baud rate
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void init_console();
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// init - initialise serial ports
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void init();
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// find_serial - searches available serial ports 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 *find_serial(enum SerialProtocol protocol, uint8_t instance) const;
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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 the baudrate of that protocol on success, 0 if a serial port cannot be found
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uint32_t find_baudrate(enum SerialProtocol protocol, uint8_t instance) const;
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// get_mavlink_channel - provides the mavlink channel associated with a given protocol (and instance)
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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 get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const;
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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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SerialProtocol get_mavlink_protocol(mavlink_channel_t mav_chan) const;
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// set_blocking_writes_all - sets block_writes on or off for all serial channels
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void set_blocking_writes_all(bool blocking);
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// set_console_baud - sets the console's baud rate to the rate specified by the protocol
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void set_console_baud(enum SerialProtocol protocol, uint8_t instance) const;
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// array of uart info
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struct {
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AP_Int8 protocol;
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AP_Int32 baud;
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AP_HAL::UARTDriver* uart;
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} state[SERIALMANAGER_NUM_PORTS];
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uint32_t map_baudrate(int32_t rate) const;
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// protocol_match - returns true if the protocols match
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bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;
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};
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