// 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
// initialise serial ports
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].uart != NULL) {
switch (state[i].protocol) {
case SerialProtocol_Console:
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
break;
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_DPort:
// Note baudrate is hardcoded to 57600
state[i].baud = AP_SERIALMANAGER_FRSKY_DPORT_BAUD/1000; // update baud param in case user looks at it
state[i].uart->begin(AP_SERIALMANAGER_FRSKY_DPORT_BAUD,
AP_SERIALMANAGER_FRSKY_BUFSIZE_RX,
AP_SERIALMANAGER_FRSKY_BUFSIZE_TX);
break;
case SerialProtocol_FRSky_SPort:
// Note baudrate is hardcoded to 9600
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;
}
}
}
}
// set_console_baud - sets the console's baud rate to the rate specified by the protocol
// used on APM2 to switch the console between the console baud rate (115200) and the SERIAL1 baud rate (user configurable)
void AP_SerialManager::set_console_baud(enum SerialProtocol protocol) const
{
// find baud rate of this protocol
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].protocol == protocol) {
// set console's baud rate
state[0].uart->begin(map_baudrate(state[i].baud));
return;
}
}
}
// find_baudrate - searches available serial ports for the first instance that allows the given protocol
// returns baudrate on success, 0 if a serial port cannot be found
uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol) const
{
// search for matching protocol
for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].protocol == protocol) {
return map_baudrate(state[i].baud);
}
}
// if we got this far we did not find the uart
return 0;
}
// set_console_baud - sets the console's baud rate to the rate specified by the protocol
void AP_SerialManager::set_console_baud(enum SerialProtocol protocol, uint8_t instance) const
{
uint8_t found_instance = 0;
// find baud rate of this protocol
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (protocol_match(protocol, (enum SerialProtocol)state[i].protocol.get())) {
if (instance == found_instance) {
// set console's baud rate
state[0].uart->begin(map_baudrate(state[i].baud));
return;
}
found_instance++;
}
}
}
// 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
{
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 map_baudrate(state[i].baud);
}
found_instance++;
}
}
// if we got this far we did not find the uart
return 0;
}
// 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
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:
// Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_ULANDING_BAUD / 1000; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_ULANDING_BUFSIZE_RX,
AP_SERIALMANAGER_ULANDING_BUFSIZE_TX);
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;
}
}
}
}