mirror of https://github.com/ArduPilot/ardupilot
245 lines
9.6 KiB
C++
245 lines
9.6 KiB
C++
/*
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Please contribute your ideas! See https://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_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Param/AP_Param.h>
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#ifdef HAL_UART_NUM_SERIAL_PORTS
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#if HAL_UART_NUM_SERIAL_PORTS >= 4
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#define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
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#else
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// we need a minimum of 4 to allow for a GPS due to the odd ordering
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// of hal.uartB as SERIAL3
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#define SERIALMANAGER_NUM_PORTS 4
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#endif
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#else
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// assume max 8 ports
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#define SERIALMANAGER_NUM_PORTS 8
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#endif
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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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// LTM buffer sizes
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#define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0
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#define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32
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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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#define AP_SERIALMANAGER_VOLZ_BAUD 115
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#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
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#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX 128
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// MegaSquirt EFI protocol
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#define AP_SERIALMANAGER_EFI_MS_BAUD 115
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#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX 512
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#define AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX 16
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// SBUS servo outputs
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#define AP_SERIALMANAGER_SBUS1_BAUD 100000
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#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16
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#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32
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#define AP_SERIALMANAGER_SLCAN_BAUD 115200
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#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX 128
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// MSP protocol default buffer sizes
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#define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
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#define AP_SERIALMANAGER_MSP_BAUD 115200
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class AP_SerialManager {
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public:
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AP_SerialManager();
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/* Do not allow copies */
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AP_SerialManager(const AP_SerialManager &other) = delete;
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AP_SerialManager &operator=(const AP_SerialManager&) = delete;
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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_Rangefinder = 9,
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SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2
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SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support - deprecated, users should use Rangefinder
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SerialProtocol_Beacon = 13,
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SerialProtocol_Volz = 14, // Volz servo protocol
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SerialProtocol_Sbus1 = 15,
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SerialProtocol_ESCTelemetry = 16,
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SerialProtocol_Devo_Telem = 17,
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SerialProtocol_OpticalFlow = 18,
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SerialProtocol_Robotis = 19,
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SerialProtocol_NMEAOutput = 20,
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SerialProtocol_WindVane = 21,
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SerialProtocol_SLCAN = 22,
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SerialProtocol_RCIN = 23,
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SerialProtocol_EFI_MS = 24, // MegaSquirt EFI serial protocol
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SerialProtocol_LTM_Telem = 25,
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SerialProtocol_RunCam = 26,
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SerialProtocol_Hott = 27,
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SerialProtocol_Scripting = 28,
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SerialProtocol_CRSF = 29,
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SerialProtocol_Generator = 30,
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SerialProtocol_Winch = 31,
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SerialProtocol_MSP = 32,
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SerialProtocol_DJI_FPV = 33,
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SerialProtocol_AirSpeed = 34,
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SerialProtocol_ADSB = 35,
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SerialProtocol_AHRS = 36,
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SerialProtocol_NumProtocols // must be the last value
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};
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// get singleton instance
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static AP_SerialManager *get_singleton(void) {
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return _singleton;
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}
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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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// find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found
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int8_t find_portnum(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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// should_forward_mavlink_telemetry - returns true if this port should forward telemetry
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bool should_forward_mavlink_telemetry(enum SerialProtocol protocol, uint8_t instance) 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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// get the passthru ports if enabled
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bool get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s,
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uint32_t &baud1, uint32_t &baud2) const;
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// disable passthru by settings SERIAL_PASS2 to -1
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void disable_passthru(void);
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// get Serial Port
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AP_HAL::UARTDriver *get_serial_by_id(uint8_t id);
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// accessors for AP_Periph to set baudrate and type
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void set_protocol_and_baud(uint8_t sernum, enum SerialProtocol protocol, uint32_t baudrate);
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static uint32_t map_baudrate(int32_t rate);
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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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static AP_SerialManager *_singleton;
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// array of uart info
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struct UARTState {
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AP_Int8 protocol;
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AP_Int32 baud;
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AP_Int16 options;
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} state[SERIALMANAGER_NUM_PORTS];
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// pass-through serial support
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AP_Int8 passthru_port1;
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AP_Int8 passthru_port2;
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AP_Int8 passthru_timeout;
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// search through managed serial connections looking for the
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// instance-nth UART which is running protocol protocol
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const UARTState *find_protocol_instance(enum SerialProtocol protocol,
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uint8_t instance) 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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// setup any special options
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void set_options(uint16_t i);
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bool init_console_done;
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};
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namespace AP {
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AP_SerialManager &serialmanager();
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};
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