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780 lines
36 KiB
780 lines
36 KiB
/* |
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Please contribute your ideas! See https://ardupilot.org/dev 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_MSP/AP_MSP.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_MAVLink2 |
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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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#ifndef HAL_SERIAL8_PROTOCOL |
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#define SERIAL8_PROTOCOL SerialProtocol_None |
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#define SERIAL8_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 |
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#else |
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#define SERIAL8_PROTOCOL HAL_SERIAL8_PROTOCOL |
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#define SERIAL8_BAUD HAL_SERIAL8_BAUD |
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#endif |
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#ifndef HAL_SERIAL9_PROTOCOL |
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#define SERIAL9_PROTOCOL SerialProtocol_None |
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#define SERIAL9_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 |
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#else |
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#define SERIAL9_PROTOCOL HAL_SERIAL9_PROTOCOL |
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#define SERIAL9_BAUD HAL_SERIAL9_BAUD |
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#endif |
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#ifdef HAL_BUILD_AP_PERIPH |
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/* |
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AP_Periph doesn't include the SERIAL parameter tree, instead each |
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supported serial device type has it's own parameter within AP_Periph |
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for which port is used. |
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*/ |
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#undef SERIAL0_PROTOCOL |
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#undef SERIAL1_PROTOCOL |
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#undef SERIAL2_PROTOCOL |
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#undef SERIAL3_PROTOCOL |
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#undef SERIAL4_PROTOCOL |
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#undef SERIAL5_PROTOCOL |
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#undef SERIAL6_PROTOCOL |
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#undef SERIAL7_PROTOCOL |
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#undef SERIAL8_PROTOCOL |
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#undef SERIAL9_PROTOCOL |
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#define SERIAL0_PROTOCOL SerialProtocol_None |
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#define SERIAL1_PROTOCOL SerialProtocol_None |
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#define SERIAL2_PROTOCOL SerialProtocol_None |
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#define SERIAL3_PROTOCOL SerialProtocol_None |
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#define SERIAL4_PROTOCOL SerialProtocol_None |
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#define SERIAL5_PROTOCOL SerialProtocol_None |
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#define SERIAL6_PROTOCOL SerialProtocol_None |
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#define SERIAL7_PROTOCOL SerialProtocol_None |
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#define SERIAL8_PROTOCOL SerialProtocol_None |
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#define SERIAL9_PROTOCOL SerialProtocol_None |
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#endif // HAL_BUILD_AP_PERIPH |
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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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,230:230400,256:256000,460:460800,500:500000,921:921600,1500:1500000 |
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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:EFI Serial, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS, 41:CoDevESC, 42:DisplayPort, 43:MAVLink High Latency, 44:IRC Tramp |
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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_MAVLink2), |
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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: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,230:230400,256:256000,460:460800,500:500000,921:921600,1500:1500000 |
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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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// @CopyValuesFrom: SERIAL1_PROTOCOL |
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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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// @CopyValuesFrom: SERIAL1_BAUD |
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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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// @CopyValuesFrom: SERIAL1_PROTOCOL |
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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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// @CopyValuesFrom: SERIAL1_BAUD |
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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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// @CopyValuesFrom: SERIAL1_PROTOCOL |
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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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// @CopyValuesFrom: SERIAL1_BAUD |
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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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// @CopyValuesFrom: SERIAL1_PROTOCOL |
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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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// @CopyValuesFrom: SERIAL1_BAUD |
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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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// @CopyValuesFrom: SERIAL1_PROTOCOL |
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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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// @CopyValuesFrom: SERIAL1_BAUD |
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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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
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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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
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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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
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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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
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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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
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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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
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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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// @CopyValuesFrom: SERIAL1_PROTOCOL |
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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. |
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// @CopyValuesFrom: SERIAL1_BAUD |
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// @User: Standard |
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AP_GROUPINFO("7_BAUD", 24, AP_SerialManager, state[7].baud, SERIAL7_BAUD), |
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// @Param: 7_OPTIONS |
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// @DisplayName: Serial7 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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
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// @User: Advanced |
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// @RebootRequired: True |
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AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0), |
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#endif |
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#if SERIALMANAGER_NUM_PORTS > 8 |
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// @Param: 8_PROTOCOL |
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// @DisplayName: Serial8 protocol selection |
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// @Description: Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. |
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// @CopyValuesFrom: SERIAL1_PROTOCOL |
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// @User: Standard |
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// @RebootRequired: True |
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AP_GROUPINFO("8_PROTOCOL", 26, AP_SerialManager, state[8].protocol, SERIAL8_PROTOCOL), |
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// @Param: 8_BAUD |
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// @DisplayName: Serial 8 Baud Rate |
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// @Description: The baud rate used for Serial8. 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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// @CopyValuesFrom: SERIAL1_BAUD |
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// @User: Standard |
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AP_GROUPINFO("8_BAUD", 27, AP_SerialManager, state[8].baud, SERIAL8_BAUD), |
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// @Param: 8_OPTIONS |
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// @DisplayName: Serial8 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. |
|
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
|
// @User: Advanced |
|
// @RebootRequired: True |
|
AP_GROUPINFO("8_OPTIONS", 28, AP_SerialManager, state[8].options, 0), |
|
#endif |
|
|
|
#if SERIALMANAGER_NUM_PORTS > 9 |
|
// @Param: 9_PROTOCOL |
|
// @DisplayName: Serial9 protocol selection |
|
// @Description: Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. |
|
// @CopyValuesFrom: SERIAL1_PROTOCOL |
|
// @User: Standard |
|
// @RebootRequired: True |
|
AP_GROUPINFO("9_PROTOCOL", 29, AP_SerialManager, state[9].protocol, SERIAL9_PROTOCOL), |
|
|
|
// @Param: 9_BAUD |
|
// @DisplayName: Serial 9 Baud Rate |
|
// @Description: The baud rate used for Serial8. 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. |
|
// @CopyValuesFrom: SERIAL1_BAUD |
|
// @User: Standard |
|
AP_GROUPINFO("9_BAUD", 30, AP_SerialManager, state[9].baud, SERIAL9_BAUD), |
|
|
|
// @Param: 9_OPTIONS |
|
// @DisplayName: Serial9 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, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate |
|
// @User: Advanced |
|
// @RebootRequired: True |
|
AP_GROUPINFO("9_OPTIONS", 31, AP_SerialManager, state[9].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 |
|
if (!init_console_done) { |
|
init_console_done = true; |
|
hal.serial(0)->begin(AP_SERIALMANAGER_CONSOLE_BAUD, |
|
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX, |
|
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX); |
|
} |
|
#endif |
|
} |
|
|
|
// init - // init - initialise serial ports |
|
void AP_SerialManager::init() |
|
{ |
|
// always reset passthru port2 on boot |
|
passthru_port2.set_and_save_ifchanged(-1); |
|
|
|
#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 |
|
|
|
init_console(); |
|
|
|
// initialise serial ports |
|
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) { |
|
auto *uart = hal.serial(i); |
|
|
|
if (uart != nullptr) { |
|
set_options(i); |
|
switch (state[i].protocol) { |
|
case SerialProtocol_None: |
|
#if HAL_GCS_ENABLED |
|
// disable RX and TX pins in case they are shared |
|
// with another peripheral (eg. RCIN pin). We |
|
// don't do this if GCS is not enabled as in that |
|
// case we don't have serialmanager parameters and |
|
// this would prevent AP_Periph from using a GPS |
|
uart->disable_rxtx(); |
|
#endif |
|
break; |
|
case SerialProtocol_Console: |
|
case SerialProtocol_MAVLink: |
|
case SerialProtocol_MAVLink2: |
|
case SerialProtocol_MAVLinkHL: |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX, |
|
AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX); |
|
break; |
|
case SerialProtocol_FrSky_D: |
|
// Note baudrate is hardcoded to 9600 |
|
state[i].baud.set_and_default(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.set_and_default(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: |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_GPS_BUFSIZE_RX, |
|
AP_SERIALMANAGER_GPS_BUFSIZE_TX); |
|
break; |
|
case SerialProtocol_AlexMos: |
|
// Note baudrate is hardcoded to 115200 |
|
state[i].baud.set_and_default(AP_SERIALMANAGER_ALEXMOS_BAUD / 1000); // update baud param in case user looks at it |
|
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.set_and_default(AP_SERIALMANAGER_SToRM32_BAUD / 1000); // update baud param in case user looks at it |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_SToRM32_BUFSIZE_RX, |
|
AP_SERIALMANAGER_SToRM32_BUFSIZE_TX); |
|
break; |
|
case SerialProtocol_Aerotenna_USD1: |
|
state[i].protocol.set_and_save(SerialProtocol_Rangefinder); |
|
break; |
|
case SerialProtocol_Volz: |
|
// Note baudrate is hardcoded to 115200 |
|
state[i].baud.set_and_default(AP_SERIALMANAGER_VOLZ_BAUD); // update baud param in case user looks at it |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_VOLZ_BUFSIZE_RX, |
|
AP_SERIALMANAGER_VOLZ_BUFSIZE_TX); |
|
uart->set_unbuffered_writes(true); |
|
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); |
|
break; |
|
case SerialProtocol_Sbus1: |
|
state[i].baud.set_and_default(AP_SERIALMANAGER_SBUS1_BAUD / 1000); // update baud param in case user looks at it |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_SBUS1_BUFSIZE_RX, |
|
AP_SERIALMANAGER_SBUS1_BUFSIZE_TX); |
|
uart->configure_parity(2); // enable even parity |
|
uart->set_stop_bits(2); |
|
uart->set_unbuffered_writes(true); |
|
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.set_and_default(115200 / 1000); |
|
uart->begin(state[i].baudrate(), 30, 30); |
|
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); |
|
break; |
|
|
|
case SerialProtocol_Robotis: |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX, |
|
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX); |
|
uart->set_unbuffered_writes(true); |
|
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); |
|
break; |
|
|
|
case SerialProtocol_SLCAN: |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_SLCAN_BUFSIZE_RX, |
|
AP_SERIALMANAGER_SLCAN_BUFSIZE_TX); |
|
break; |
|
|
|
#ifndef HAL_BUILD_AP_PERIPH |
|
case SerialProtocol_RCIN: |
|
AP::RC().add_uart(uart); |
|
break; |
|
#endif |
|
|
|
case SerialProtocol_EFI: |
|
state[i].baud.set_default(AP_SERIALMANAGER_EFI_MS_BAUD); |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX, |
|
AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX); |
|
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); |
|
break; |
|
|
|
case SerialProtocol_Generator: |
|
break; |
|
#if HAL_MSP_ENABLED |
|
case SerialProtocol_MSP: |
|
case SerialProtocol_DJI_FPV: |
|
case SerialProtocol_MSP_DisplayPort: |
|
// baudrate defaults to 115200 |
|
state[i].baud.set_default(AP_SERIALMANAGER_MSP_BAUD/1000); |
|
uart->begin(state[i].baudrate(), |
|
AP_SERIALMANAGER_MSP_BUFSIZE_RX, |
|
AP_SERIALMANAGER_MSP_BUFSIZE_TX); |
|
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); |
|
// Note init is handled by AP_MSP |
|
break; |
|
#endif |
|
default: |
|
uart->begin(state[i].baudrate()); |
|
} |
|
} |
|
} |
|
} |
|
|
|
|
|
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; |
|
} |
|
const uint8_t serial_idx = _state - &state[0]; |
|
|
|
// set options before any user does begin() |
|
AP_HAL::UARTDriver *port = hal.serial(serial_idx); |
|
if (port) { |
|
port->set_options(_state->options); |
|
} |
|
return port; |
|
} |
|
|
|
// have_serial - return true if we have the given serial protocol configured |
|
bool AP_SerialManager::have_serial(enum SerialProtocol protocol, uint8_t instance) const |
|
{ |
|
return find_protocol_instance(protocol, instance) != nullptr; |
|
} |
|
|
|
// 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 _state->baudrate(); |
|
} |
|
|
|
// find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found |
|
int8_t AP_SerialManager::find_portnum(enum SerialProtocol protocol, uint8_t instance) const |
|
{ |
|
const struct UARTState *_state = find_protocol_instance(protocol, instance); |
|
if (_state == nullptr) { |
|
return -1; |
|
} |
|
return int8_t(_state - &state[0]); |
|
} |
|
|
|
// 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 hal.serial(id); |
|
} |
|
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++) { |
|
auto *uart = hal.serial(i); |
|
if (uart != nullptr) { |
|
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) || (protocol1 == SerialProtocol_MAVLinkHL)) && |
|
((protocol2 == SerialProtocol_MAVLink) || (protocol2 == SerialProtocol_MAVLink2) || (protocol2 == SerialProtocol_MAVLinkHL))) { |
|
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 (!hal.serial(i)->set_options(opt.options)) { |
|
DEV_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, |
|
uint32_t &baud1, uint32_t &baud2) const |
|
{ |
|
if (passthru_port2 < 0 || |
|
passthru_port2 >= SERIALMANAGER_NUM_PORTS || |
|
passthru_port1 < 0 || |
|
passthru_port1 >= SERIALMANAGER_NUM_PORTS) { |
|
return false; |
|
} |
|
port1 = hal.serial(passthru_port1); |
|
port2 = hal.serial(passthru_port2); |
|
baud1 = state[passthru_port1].baudrate(); |
|
baud2 = state[passthru_port2].baudrate(); |
|
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 < SERIALMANAGER_NUM_PORTS) { |
|
state[sernum].protocol.set(protocol); |
|
state[sernum].baud.set(baudrate); |
|
} |
|
} |
|
|
|
|
|
namespace AP { |
|
|
|
AP_SerialManager &serialmanager() |
|
{ |
|
return *AP_SerialManager::get_singleton(); |
|
} |
|
|
|
}
|
|
|