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AP_SerialManager: support SERIALn_PROTOCOL=23 for RC input 

sets up an extra RC input port
mission-4.1.18
Andrew Tridgell 6 years ago
parent
2b856abdd1
commit
cbdb23afb5
2 changed files with 34 additions and 17 deletions
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  1. 50
      libraries/AP_SerialManager/AP_SerialManager.cpp
  2. 1
      libraries/AP_SerialManager/AP_SerialManager.h

50
libraries/AP_SerialManager/AP_SerialManager.cpp
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@ -22,10 +22,29 @@ @@ -22,10 +22,29 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
#include "AP_SerialManager.h"
extern const AP_HAL::HAL& hal;
#ifdef HAL_SERIAL2_PROTOCOL
#define SERIAL2_PROTOCOL HAL_SERIAL2_PROTOCOL
#else
#define SERIAL2_PROTOCOL SerialProtocol_MAVLink
#endif
#ifndef HAL_SERIAL3_PROTOCOL
#define SERIAL3_PROTOCOL SerialProtocol_GPS
#else
#define SERIAL3_PROTOCOL HAL_SERIAL3_PROTOCOL
#endif
#ifndef HAL_SERIAL4_PROTOCOL
#define SERIAL4_PROTOCOL SerialProtocol_GPS
#else
#define SERIAL4_PROTOCOL HAL_SERIAL4_PROTOCOL
#endif
#ifdef HAL_SERIAL5_PROTOCOL
#define SERIAL5_PROTOCOL HAL_SERIAL5_PROTOCOL
#define SERIAL5_BAUD HAL_SERIAL5_BAUD
@ -34,12 +53,6 @@ extern const AP_HAL::HAL& hal; @@ -34,12 +53,6 @@ extern const AP_HAL::HAL& hal;
#define SERIAL5_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
#endif
#ifdef HAL_SERIAL2_PROTOCOL
#define SERIAL2_PROTOCOL_DEFAULT HAL_SERIAL2_PROTOCOL
#else
#define SERIAL2_PROTOCOL_DEFAULT SerialProtocol_MAVLink
#endif
#ifndef HAL_SERIAL6_PROTOCOL
#define SERIAL6_PROTOCOL SerialProtocol_None
#define SERIAL6_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
@ -56,7 +69,6 @@ extern const AP_HAL::HAL& hal; @@ -56,7 +69,6 @@ extern const AP_HAL::HAL& hal;
#define SERIAL7_BAUD HAL_SERIAL7_BAUD
#endif
const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 0_BAUD
// @DisplayName: Serial0 baud rate
@ -76,7 +88,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -76,7 +88,7 @@ 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
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
@ -91,10 +103,10 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -91,10 +103,10 @@ 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
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SERIAL2_PROTOCOL_DEFAULT),
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SERIAL2_PROTOCOL),
// @Param: 2_BAUD
// @DisplayName: Telemetry 2 Baud Rate
@ -106,10 +118,10 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -106,10 +118,10 @@ 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
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SERIAL3_PROTOCOL),
// @Param: 3_BAUD
// @DisplayName: Serial 3 (GPS) Baud Rate
@ -121,10 +133,10 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -121,10 +133,10 @@ 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
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SERIAL4_PROTOCOL),
// @Param: 4_BAUD
// @DisplayName: Serial 4 Baud Rate
@ -136,7 +148,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -136,7 +148,7 @@ 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
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
@ -153,7 +165,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -153,7 +165,7 @@ 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
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("6_PROTOCOL", 12, AP_SerialManager, state[6].protocol, SERIAL6_PROTOCOL),
@ -238,7 +250,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -238,7 +250,7 @@ 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
// @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
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("7_PROTOCOL", 23, AP_SerialManager, state[7].protocol, SERIAL7_PROTOCOL),
@ -398,6 +410,10 @@ void AP_SerialManager::init() @@ -398,6 +410,10 @@ void AP_SerialManager::init()
AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
break;
case SerialProtocol_RCIN:
AP::RC().add_uart(state[i].uart);
break;
default:
state[i].uart->begin(map_baudrate(state[i].baud));
}

1
libraries/AP_SerialManager/AP_SerialManager.h
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@ -112,6 +112,7 @@ public: @@ -112,6 +112,7 @@ public:
SerialProtocol_NMEAOutput = 20,
SerialProtocol_WindVane = 21,
SerialProtocol_SLCAN = 22,
SerialProtocol_RCIN = 23,
};
// get singleton instance

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