mirror of https://github.com/ArduPilot/ardupilot
701 lines
34 KiB
C++
701 lines
34 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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#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, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting
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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, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting
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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, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting
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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, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting
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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, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting
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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, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting
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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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
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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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
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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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
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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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
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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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
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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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
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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, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting
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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.
|
|
// @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
|
|
// @User: Standard
|
|
AP_GROUPINFO("7_BAUD", 24, AP_SerialManager, state[7].baud, SERIAL7_BAUD),
|
|
|
|
// @Param: 7_OPTIONS
|
|
// @DisplayName: Serial7 options
|
|
// @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.
|
|
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
|
|
// @User: Advanced
|
|
// @RebootRequired: True
|
|
AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0),
|
|
#endif
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
// singleton instance
|
|
AP_SerialManager *AP_SerialManager::_singleton;
|
|
|
|
// Constructor
|
|
AP_SerialManager::AP_SerialManager()
|
|
{
|
|
_singleton = this;
|
|
// setup parameter defaults
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
// init_console - initialise console at default baud rate
|
|
void AP_SerialManager::init_console()
|
|
{
|
|
// initialise console immediately at default size and baud
|
|
#if SERIALMANAGER_NUM_PORTS > 0
|
|
state[0].uart = hal.uartA; // serial0, uartA, always console
|
|
state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD,
|
|
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
|
|
#endif
|
|
}
|
|
|
|
extern bool g_nsh_should_exit;
|
|
|
|
// init - // init - initialise serial ports
|
|
void AP_SerialManager::init()
|
|
{
|
|
// always reset passthru port2 on boot
|
|
passthru_port2.set_and_save_ifchanged(-1);
|
|
|
|
// initialise pointers to serial ports
|
|
#if SERIALMANAGER_NUM_PORTS > 1
|
|
state[1].uart = hal.uartC; // serial1, uartC, normally telem1
|
|
#endif
|
|
#if SERIALMANAGER_NUM_PORTS > 2
|
|
state[2].uart = hal.uartD; // serial2, uartD, normally telem2
|
|
#endif
|
|
#if SERIALMANAGER_NUM_PORTS > 3
|
|
state[3].uart = hal.uartB; // serial3, uartB, normally 1st GPS
|
|
#endif
|
|
#if SERIALMANAGER_NUM_PORTS > 4
|
|
state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS
|
|
#endif
|
|
#if SERIALMANAGER_NUM_PORTS > 5
|
|
state[5].uart = hal.uartF; // serial5
|
|
#endif
|
|
#if SERIALMANAGER_NUM_PORTS > 6
|
|
state[6].uart = hal.uartG; // serial6
|
|
#endif
|
|
#if SERIALMANAGER_NUM_PORTS > 7
|
|
state[7].uart = hal.uartH; // serial7
|
|
#endif
|
|
|
|
#ifdef HAL_OTG1_CONFIG
|
|
/*
|
|
prevent users from changing USB protocol to other than
|
|
MAVLink. This fixes an issue where users trying to get SLCAN
|
|
change SERIAL0_PROTOCOL to 22 and find they can no longer connect
|
|
*/
|
|
if (state[0].protocol != SerialProtocol_MAVLink &&
|
|
state[0].protocol != SerialProtocol_MAVLink2) {
|
|
state[0].protocol.set(SerialProtocol_MAVLink2);
|
|
}
|
|
#endif
|
|
|
|
#if SERIALMANAGER_NUM_PORTS > 0
|
|
if (state[0].uart == nullptr) {
|
|
init_console();
|
|
}
|
|
#endif
|
|
|
|
// initialise serial ports
|
|
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
|
|
|
|
if (state[i].uart != nullptr) {
|
|
|
|
// see if special options have been requested
|
|
if (state[i].protocol != SerialProtocol_None && state[i].options) {
|
|
set_options(i);
|
|
}
|
|
|
|
switch (state[i].protocol) {
|
|
case SerialProtocol_None:
|
|
break;
|
|
case SerialProtocol_Console:
|
|
case SerialProtocol_MAVLink:
|
|
case SerialProtocol_MAVLink2:
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX);
|
|
break;
|
|
case SerialProtocol_FrSky_D:
|
|
// Note baudrate is hardcoded to 9600
|
|
state[i].baud = AP_SERIALMANAGER_FRSKY_D_BAUD/1000; // update baud param in case user looks at it
|
|
// begin is handled by AP_Frsky_telem library
|
|
break;
|
|
case SerialProtocol_FrSky_SPort:
|
|
case SerialProtocol_FrSky_SPort_Passthrough:
|
|
// Note baudrate is hardcoded to 57600
|
|
state[i].baud = AP_SERIALMANAGER_FRSKY_SPORT_BAUD/1000; // update baud param in case user looks at it
|
|
// begin is handled by AP_Frsky_telem library
|
|
break;
|
|
case SerialProtocol_GPS:
|
|
case SerialProtocol_GPS2:
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_GPS_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_GPS_BUFSIZE_TX);
|
|
break;
|
|
case SerialProtocol_AlexMos:
|
|
// Note baudrate is hardcoded to 115200
|
|
state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000; // update baud param in case user looks at it
|
|
state[i].uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD,
|
|
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX);
|
|
break;
|
|
case SerialProtocol_SToRM32:
|
|
// Note baudrate is hardcoded to 115200
|
|
state[i].baud = AP_SERIALMANAGER_SToRM32_BAUD / 1000; // update baud param in case user looks at it
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_SToRM32_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_SToRM32_BUFSIZE_TX);
|
|
break;
|
|
case SerialProtocol_Aerotenna_uLanding:
|
|
state[i].protocol.set_and_save(SerialProtocol_Rangefinder);
|
|
break;
|
|
case SerialProtocol_Volz:
|
|
// Note baudrate is hardcoded to 115200
|
|
state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_VOLZ_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_VOLZ_BUFSIZE_TX);
|
|
state[i].uart->set_unbuffered_writes(true);
|
|
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
|
|
break;
|
|
case SerialProtocol_Sbus1:
|
|
state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000; // update baud param in case user looks at it
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_SBUS1_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_SBUS1_BUFSIZE_TX);
|
|
state[i].uart->configure_parity(2); // enable even parity
|
|
state[i].uart->set_stop_bits(2);
|
|
state[i].uart->set_unbuffered_writes(true);
|
|
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
|
|
break;
|
|
|
|
case SerialProtocol_ESCTelemetry:
|
|
// ESC telemetry protocol from BLHeli32 ESCs. Note that baudrate is hardcoded to 115200
|
|
state[i].baud = 115200;
|
|
state[i].uart->begin(map_baudrate(state[i].baud), 30, 30);
|
|
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
|
|
break;
|
|
|
|
case SerialProtocol_Robotis:
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX);
|
|
state[i].uart->set_unbuffered_writes(true);
|
|
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
|
|
break;
|
|
|
|
case SerialProtocol_SLCAN:
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_SLCAN_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
|
|
break;
|
|
|
|
#ifndef HAL_BUILD_AP_PERIPH
|
|
case SerialProtocol_RCIN:
|
|
AP::RC().add_uart(state[i].uart);
|
|
break;
|
|
#endif
|
|
|
|
case SerialProtocol_EFI_MS:
|
|
state[i].baud = AP_SERIALMANAGER_EFI_MS_BAUD; // update baud param in case user looks at it
|
|
state[i].uart->begin(map_baudrate(state[i].baud),
|
|
AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX,
|
|
AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX);
|
|
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
|
|
break;
|
|
|
|
default:
|
|
state[i].uart->begin(map_baudrate(state[i].baud));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
const AP_SerialManager::UARTState *AP_SerialManager::find_protocol_instance(enum SerialProtocol protocol, uint8_t instance) const
|
|
{
|
|
uint8_t found_instance = 0;
|
|
|
|
// search for matching protocol
|
|
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
|
|
if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
|
|
if (found_instance == instance) {
|
|
return &state[i];
|
|
}
|
|
found_instance++;
|
|
}
|
|
}
|
|
|
|
// if we got this far we did not find the uart
|
|
return nullptr;
|
|
}
|
|
|
|
// find_serial - 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 uart on success, nullptr if a serial port cannot be found
|
|
AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol, uint8_t instance) const
|
|
{
|
|
const struct UARTState *_state = find_protocol_instance(protocol, instance);
|
|
if (_state == nullptr) {
|
|
return nullptr;
|
|
}
|
|
return _state->uart;
|
|
}
|
|
|
|
// 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 baudrate on success, 0 if a serial port cannot be found
|
|
uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t instance) const
|
|
{
|
|
const struct UARTState *_state = find_protocol_instance(protocol, instance);
|
|
if (_state == nullptr) {
|
|
return 0;
|
|
}
|
|
return map_baudrate(_state->baud);
|
|
}
|
|
|
|
// get_mavlink_channel - provides the mavlink channel associated with a given protocol
|
|
// instance should be zero if searching for the first instance, 1 for the second, etc
|
|
// returns true if a channel is found, false if not
|
|
bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const
|
|
{
|
|
// check for MAVLink
|
|
if (protocol_match(protocol, SerialProtocol_MAVLink)) {
|
|
if (instance < MAVLINK_COMM_NUM_BUFFERS) {
|
|
mav_chan = (mavlink_channel_t)(MAVLINK_COMM_0 + instance);
|
|
return true;
|
|
}
|
|
}
|
|
// report failure
|
|
return false;
|
|
}
|
|
|
|
|
|
// get_mavlink_protocol - provides the specific MAVLink protocol for a
|
|
// given channel, or SerialProtocol_None if not found
|
|
AP_SerialManager::SerialProtocol AP_SerialManager::get_mavlink_protocol(mavlink_channel_t mav_chan) const
|
|
{
|
|
uint8_t instance = 0;
|
|
uint8_t chan_idx = (uint8_t)(mav_chan - MAVLINK_COMM_0);
|
|
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
|
|
if (state[i].protocol == SerialProtocol_MAVLink ||
|
|
state[i].protocol == SerialProtocol_MAVLink2) {
|
|
if (instance == chan_idx) {
|
|
return (SerialProtocol)state[i].protocol.get();
|
|
}
|
|
instance++;
|
|
}
|
|
}
|
|
return SerialProtocol_None;
|
|
}
|
|
|
|
// get_serial_by_id - gets serial by serial id
|
|
AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id)
|
|
{
|
|
if (id < SERIALMANAGER_NUM_PORTS) {
|
|
return state[id].uart;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
// set_blocking_writes_all - sets block_writes on or off for all serial channels
|
|
void AP_SerialManager::set_blocking_writes_all(bool blocking)
|
|
{
|
|
// set block_writes for all initialised serial ports
|
|
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
|
|
if (state[i].uart != nullptr) {
|
|
state[i].uart->set_blocking_writes(blocking);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* map from a 16 bit EEPROM baud rate to a real baud rate. For
|
|
* stm32-based boards we can do 1.5MBit, although 921600 is more
|
|
* reliable.
|
|
*/
|
|
uint32_t AP_SerialManager::map_baudrate(int32_t rate)
|
|
{
|
|
if (rate <= 0) {
|
|
rate = 57;
|
|
}
|
|
switch (rate) {
|
|
case 1: return 1200;
|
|
case 2: return 2400;
|
|
case 4: return 4800;
|
|
case 9: return 9600;
|
|
case 19: return 19200;
|
|
case 38: return 38400;
|
|
case 57: return 57600;
|
|
case 100: return 100000;
|
|
case 111: return 111100;
|
|
case 115: return 115200;
|
|
case 230: return 230400;
|
|
case 256: return 256000;
|
|
case 460: return 460800;
|
|
case 500: return 500000;
|
|
case 921: return 921600;
|
|
case 1500: return 1500000;
|
|
}
|
|
|
|
if (rate > 2000) {
|
|
// assume it is a direct baudrate. This allows for users to
|
|
// set an exact baudrate as long as it is over 2000 baud
|
|
return (uint32_t)rate;
|
|
}
|
|
|
|
// otherwise allow any other kbaud rate
|
|
return rate*1000;
|
|
}
|
|
|
|
// protocol_match - returns true if the protocols match
|
|
bool AP_SerialManager::protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const
|
|
{
|
|
// check for obvious match
|
|
if (protocol1 == protocol2) {
|
|
return true;
|
|
}
|
|
|
|
// mavlink match
|
|
if (((protocol1 == SerialProtocol_MAVLink) || (protocol1 == SerialProtocol_MAVLink2)) &&
|
|
((protocol2 == SerialProtocol_MAVLink) || (protocol2 == SerialProtocol_MAVLink2))) {
|
|
return true;
|
|
}
|
|
|
|
// gps match
|
|
if (((protocol1 == SerialProtocol_GPS) || (protocol1 == SerialProtocol_GPS2)) &&
|
|
((protocol2 == SerialProtocol_GPS) || (protocol2 == SerialProtocol_GPS2))) {
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
// setup any special options
|
|
void AP_SerialManager::set_options(uint16_t i)
|
|
{
|
|
struct UARTState &opt = state[i];
|
|
// pass through to HAL
|
|
if (!opt.uart->set_options(opt.options)) {
|
|
hal.console->printf("Unable to setup options for Serial%u\n", i);
|
|
}
|
|
}
|
|
|
|
// get the passthru ports if enabled
|
|
bool AP_SerialManager::get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s) const
|
|
{
|
|
if (passthru_port2 < 0 ||
|
|
passthru_port2 >= SERIALMANAGER_NUM_PORTS ||
|
|
passthru_port1 < 0 ||
|
|
passthru_port1 >= SERIALMANAGER_NUM_PORTS) {
|
|
return false;
|
|
}
|
|
port1 = state[passthru_port1].uart;
|
|
port2 = state[passthru_port2].uart;
|
|
timeout_s = MAX(passthru_timeout, 0);
|
|
return true;
|
|
}
|
|
|
|
// disable passthru by settings SERIAL_PASS2 to -1
|
|
void AP_SerialManager::disable_passthru(void)
|
|
{
|
|
passthru_port2.set_and_notify(-1);
|
|
}
|
|
|
|
// accessor for AP_Periph to set baudrate and type
|
|
void AP_SerialManager::set_protocol_and_baud(uint8_t sernum, enum SerialProtocol protocol, uint32_t baudrate)
|
|
{
|
|
if (sernum <= ARRAY_SIZE(state)) {
|
|
state[sernum].protocol.set(protocol);
|
|
state[sernum].baud.set(baudrate);
|
|
}
|
|
}
|
|
|
|
|
|
namespace AP {
|
|
|
|
AP_SerialManager &serialmanager()
|
|
{
|
|
return *AP_SerialManager::get_singleton();
|
|
}
|
|
|
|
}
|