mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 03:04:04 -04:00
6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
178 lines
6.1 KiB
C
178 lines
6.1 KiB
C
/*
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Please contribute your ideas! See https://ardupilot.org/dev 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 configuration defines
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_Networking/AP_Networking_Config.h>
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#include <AP_InertialSensor/AP_InertialSensor_config.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 want a minimum of 4 as the default GPS port is 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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#ifndef HAL_NUM_SERIAL_PORTS
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#define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS
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#endif
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#ifndef AP_SERIALMANAGER_ENABLED
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#define AP_SERIALMANAGER_ENABLED 1
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#endif
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/*
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array size for state[]. This needs to be at least
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SERIALMANAGER_NUM_PORTS, but we want it to be the same length on
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similar boards to get the ccache efficiency up. This wastes a small
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amount of memory, but makes a huge difference to the build times
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*/
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#if SERIALMANAGER_NUM_PORTS > 10 || SERIALMANAGER_NUM_PORTS < 5
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#define SERIALMANAGER_MAX_PORTS SERIALMANAGER_NUM_PORTS
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#else
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#define SERIALMANAGER_MAX_PORTS 10
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#endif
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#ifndef AP_SERIALMANAGER_REGISTER_ENABLED
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#define AP_SERIALMANAGER_REGISTER_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 1024 && (AP_NETWORKING_ENABLED || HAL_ENABLE_DRONECAN_DRIVERS)
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#endif
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#ifndef AP_SERIALMANAGER_IMUOUT_ENABLED
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#define AP_SERIALMANAGER_IMUOUT_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) && AP_INERTIALSENSOR_ENABLED
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#endif
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// serial ports registered by AP_Networking will use IDs starting at 21 for the first port
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#define AP_SERIALMANAGER_NET_PORT_1 21 // NET_P1_*
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// serial ports registered by AP_DroneCAN will use IDs starting at 41/51 for the first port
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#define AP_SERIALMANAGER_CAN_D1_PORT_1 41 // CAN_D1_UC_S1_*
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#define AP_SERIALMANAGER_CAN_D2_PORT_1 51 // CAN_D2_UC_S1_*
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// serial device simulation ports registered by AP_Scripting will use IDs starting at 61 for the first port
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#define AP_SERIALMANAGER_SCR_PORT_1 61 // SCR_SDEV1_*
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// console default baud rates and buffer sizes
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#ifdef DEFAULT_SERIAL0_BAUD
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#define AP_SERIALMANAGER_CONSOLE_BAUD DEFAULT_SERIAL0_BAUD
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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 230400
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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_GIMBAL_BAUD 115200
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#define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_GIMBAL_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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// IMU OUT protocol
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#define AP_SERIALMANAGER_IMUOUT_BAUD 921600
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#define AP_SERIALMANAGER_IMUOUT_BUFSIZE_RX 128
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#define AP_SERIALMANAGER_IMUOUT_BUFSIZE_TX 2048
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// PPP protocol
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#define AP_SERIALMANAGER_PPP_BAUD 921600
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#define AP_SERIALMANAGER_PPP_BUFSIZE_RX 4096
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#define AP_SERIALMANAGER_PPP_BUFSIZE_TX 4096
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#ifndef HAL_HAVE_SERIAL0
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#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
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#endif
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#ifndef HAL_HAVE_SERIAL1
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#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
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#endif
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#ifndef HAL_HAVE_SERIAL2
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#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
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#endif
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#ifndef HAL_HAVE_SERIAL3
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#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
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#endif
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#ifndef HAL_HAVE_SERIAL4
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#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
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#endif
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#ifndef HAL_HAVE_SERIAL5
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#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
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#endif
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#ifndef HAL_HAVE_SERIAL6
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#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
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#endif
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#ifndef HAL_HAVE_SERIAL7
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#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
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#endif
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#ifndef HAL_HAVE_SERIAL8
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#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
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#endif
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#ifndef HAL_HAVE_SERIAL9
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#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
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#endif
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