AP_SerialManager: added ESC telemetry protocol support

libraries/AP_SerialManager/AP_SerialManager.cpp

@@ -55,7 +55,7 @@ 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
+    // @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
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("1_PROTOCOL",  1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
@@ -70,7 +70,7 @@ 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
+    // @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
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("2_PROTOCOL",  3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),
@@ -85,7 +85,7 @@ 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
+    // @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
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("3_PROTOCOL",  5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
@@ -100,7 +100,7 @@ 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
+    // @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
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("4_PROTOCOL",  7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
@@ -115,7 +115,7 @@ 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
+    // @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
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("5_PROTOCOL",  9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
@@ -243,6 +243,13 @@ void AP_SerialManager::init()
                     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;
             }
         }
     }

libraries/AP_SerialManager/AP_SerialManager.h

@@ -98,7 +98,8 @@ public:
         SerialProtocol_Aerotenna_uLanding      = 12, // Ulanding support - deprecated, users should use Rangefinder
         SerialProtocol_Beacon = 13,
         SerialProtocol_Volz = 14,                    // Volz servo protocol
-        SerialProtocol_Sbus1 = 15
+        SerialProtocol_Sbus1 = 15,
+        SerialProtocol_ESCTelemetry = 16
     };
 
     // get singleton instance