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ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp

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/*
Please contribute your ideas! See http://dev.ardupilot.org 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
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_SerialManager.h"
extern const AP_HAL::HAL& hal;
#ifdef HAL_SERIAL5_PROTOCOL
#define SERIAL5_PROTOCOL HAL_SERIAL5_PROTOCOL
#define SERIAL5_BAUD HAL_SERIAL5_BAUD
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#define SERIAL5_PROTOCOL SerialProtocol_MAVLink
#define SERIAL5_BAUD 921600
#else
#define SERIAL5_PROTOCOL SerialProtocol_None
#define SERIAL5_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
#endif
#ifndef HAL_SERIAL6_PROTOCOL
#define SERIAL6_PROTOCOL SerialProtocol_None
#define SERIAL6_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
#endif
const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 0_BAUD
// @DisplayName: Serial0 baud rate
// @Description: The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,460:460800,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("0_BAUD", 0, AP_SerialManager, state[0].baud, AP_SERIALMANAGER_CONSOLE_BAUD/1000),
// @Param: 0_PROTOCOL
// @DisplayName: Console protocol selection
// @Description: Control what protocol to use on the console.
// @Values: 1:MAVlink1, 2:MAVLink2
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("0_PROTOCOL", 11, AP_SerialManager, state[0].protocol, SerialProtocol_MAVLink2),
// @Param: 1_PROTOCOL
// @DisplayName: Telem1 protocol selection
// @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
// @Param: 1_BAUD
// @DisplayName: Telem1 Baud Rate
// @Description: The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("1_BAUD", 2, AP_SerialManager, state[1].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000),
// @Param: 2_PROTOCOL
// @DisplayName: Telemetry 2 protocol selection
// @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),
// @Param: 2_BAUD
// @DisplayName: Telemetry 2 Baud Rate
// @Description: The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("2_BAUD", 4, AP_SerialManager, state[2].baud, AP_SERIALMANAGER_MAVLINK_BAUD/1000),
// @Param: 3_PROTOCOL
// @DisplayName: Serial 3 (GPS) protocol selection
// @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.
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
// @Param: 3_BAUD
// @DisplayName: Serial 3 (GPS) Baud Rate
// @Description: The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("3_BAUD", 6, AP_SerialManager, state[3].baud, AP_SERIALMANAGER_GPS_BAUD/1000),
// @Param: 4_PROTOCOL
// @DisplayName: Serial4 protocol selection
// @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
// @Param: 4_BAUD
// @DisplayName: Serial 4 Baud Rate
// @Description: The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("4_BAUD", 8, AP_SerialManager, state[4].baud, AP_SERIALMANAGER_GPS_BAUD/1000),
// @Param: 5_PROTOCOL
// @DisplayName: Serial5 protocol selection
// @Description: Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
// @Param: 5_BAUD
// @DisplayName: Serial 5 Baud Rate
// @Description: The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("5_BAUD", 10, AP_SerialManager, state[5].baud, SERIAL5_BAUD),
// index 11 used by 0_PROTOCOL
// @Param: 6_PROTOCOL
// @DisplayName: Serial6 protocol selection
// @Description: Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("6_PROTOCOL", 12, AP_SerialManager, state[6].protocol, SERIAL6_PROTOCOL),
// @Param: 6_BAUD
// @DisplayName: Serial 6 Baud Rate
// @Description: The baud rate used for Serial6. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
// @User: Standard
AP_GROUPINFO("6_BAUD", 13, AP_SerialManager, state[6].baud, SERIAL6_BAUD),
AP_GROUPEND
};
// singleton instance
AP_SerialManager *AP_SerialManager::_instance;
// Constructor
AP_SerialManager::AP_SerialManager()
{
_instance = 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
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);
}
extern bool g_nsh_should_exit;
// init - // init - initialise serial ports
void AP_SerialManager::init()
{
// initialise pointers to serial ports
state[1].uart = hal.uartC; // serial1, uartC, normally telem1
state[2].uart = hal.uartD; // serial2, uartD, normally telem2
state[3].uart = hal.uartB; // serial3, uartB, normally 1st GPS
state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS
state[5].uart = hal.uartF; // serial5
state[6].uart = hal.uartG; // serial6
if (state[0].uart == nullptr) {
init_console();
}
// initialise serial ports
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
if (i == 5 && state[i].protocol != SerialProtocol_None) {
// tell nsh to exit to free up this uart
g_nsh_should_exit = true;
}
#endif
if (state[i].uart != nullptr) {
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;
}
}
}
}
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;
}
// 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 PX4 we can do 1.5MBit, although 921600 is more reliable.
*/
uint32_t AP_SerialManager::map_baudrate(int32_t rate) const
{
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 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;
}
namespace AP {
AP_SerialManager &serialmanager()
{
return *AP_SerialManager::get_instance();
}
}
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