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AP_SerialManager: LTM telemetry support

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Marian Soban 2019-09-06 10:23:51 +02:00 committed by Andrew Tridgell
parent 6e961b55eb
commit bea1502af9
2 changed files with 13 additions and 8 deletions
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14
libraries/AP_SerialManager/AP_SerialManager.cpp
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@ -91,7 +91,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @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, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
@ -108,7 +108,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @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, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SERIAL2_PROTOCOL),
@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @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, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SERIAL3_PROTOCOL),
@ -142,7 +142,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @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, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SERIAL4_PROTOCOL),
@ -159,7 +159,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @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, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
@ -178,7 +178,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @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, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("6_PROTOCOL", 12, AP_SerialManager, state[6].protocol, SERIAL6_PROTOCOL),
@ -277,7 +277,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 7_PROTOCOL
// @DisplayName: Serial7 protocol selection
// @Description: Control what protocol Serial7 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, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("7_PROTOCOL", 23, AP_SerialManager, state[7].protocol, SERIAL7_PROTOCOL),

7
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -52,6 +52,10 @@
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256
// LTM buffer sizes
#define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0
#define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32
// FrSky default baud rates, use default buffer sizes
#define AP_SERIALMANAGER_FRSKY_D_BAUD 9600
#define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600
@ -128,7 +132,8 @@ public:
SerialProtocol_WindVane = 21,
SerialProtocol_SLCAN = 22,
SerialProtocol_RCIN = 23,
SerialProtocol_EFI_MS = 24 // MegaSquirt EFI serial protocol
SerialProtocol_EFI_MS = 24, // MegaSquirt EFI serial protocol
SerialProtocol_LTM_Telem = 25,
};
// get singleton instance