Allow the user to specify their serial port scenarios.
This commit is contained in:
Dominic Clifton
parent
5043370b2f
commit
0fd127bf60
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@ -0,0 +1,85 @@
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## Serial port functions and scenarios
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### Serial port scenarios
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```
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0 UNUSED
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1 MSP, CLI, TELEMETRY, GPS-PASTHROUGH
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2 GPS ONLY
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3 SERIAL-RX ONLY
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4 TELEMETRY ONLY
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5 MSP, CLI, GPS-PASTHROUGH
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6 CLI ONLY
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7 GPS-PASSTHROUGH ONLY
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8 MSP ONLY
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```
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### Contraints
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* There must always be a port available to use for MSP
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* There must always be a port available to use for CLI
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* To use a port for a function, the function's corresponding feature must be enabled first.
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e.g. to use GPS enable the GPS feature.
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* If the configuration is invalid the serial port configuration will reset to it's defaults and features may be disabled.
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### Examples
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All examples assume default configuration (via cli `defaults` command)
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a) GPS and TELEMETRY (when armed)
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- TELEMETRY,MSP,CLI,GPS PASSTHROUGH on UART1
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- GPS on UART2
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```
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feature TELEMETRY
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feature GPS
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save
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```
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b) SERIAL_RX and TELEMETRY (when armed)
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- TELEMETRY,MSP,CLI,GPS PASSTHROUGH on UART1
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- SERIAL_RX on UART2
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```
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feature TELEMETRY
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feature SERIAL_RX
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set serial_port_2_scenario = 3
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save
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```
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c) GPS and TELEMETRY via softserial
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- TELEMETRY,MSP,CLI,GPS PASSTHROUGH on UART1
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- GPS on UART2
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```
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feature TELEMETRY
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feature GPS
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feature SOFTSERIAL
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set serial_port_3_scenario = 4
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save
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```
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d) SERIAL_RX, GPS and TELEMETRY (when armed) MSP/CLI via softserial
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- GPS on UART1
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- SERIAL RX on UART2
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- TELEMETRY,MSP,CLI,GPS PASSTHROUGH on SOFTSERIAL1
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Note: PPM needed to disable parallel PWM which in turn allows SOFTSERIAL to be used.
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```
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feature PPM
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feature TELEMETRY
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feature GPS
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feature SERIALRX
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feature SOFTSERIAL
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set serial_port_1_scenario = 2
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set serial_port_2_scenario = 3
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set serial_port_3_scenario = 1
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set msp_baudrate = 19200
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set cli_baudrate = 19200
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set gps_passthrough_baudrate = 19200
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save
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```
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19
src/config.c
19
src/config.c
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@ -50,7 +50,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
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master_t masterConfig; // master config struct with data independent from profiles
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profile_t currentProfile; // profile config struct
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static const uint8_t EEPROM_CONF_VERSION = 65;
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static const uint8_t EEPROM_CONF_VERSION = 66;
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static void resetConf(void);
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static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
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@ -282,6 +282,18 @@ void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
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telemetryConfig->telemetry_switch = 0;
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}
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void resetSerialConfig(serialConfig_t *serialConfig)
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{
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serialConfig->serial_port_1_scenario = lookupScenarioIndex(SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH);
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serialConfig->serial_port_2_scenario = lookupScenarioIndex(SCENARIO_GPS_ONLY);
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serialConfig->serial_port_3_scenario = lookupScenarioIndex(SCENARIO_UNUSED);
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serialConfig->serial_port_4_scenario = lookupScenarioIndex(SCENARIO_UNUSED);
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serialConfig->msp_baudrate = 115200;
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serialConfig->cli_baudrate = 115200;
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serialConfig->gps_passthrough_baudrate = 115200;
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serialConfig->reboot_character = 'R';
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}
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// Default settings
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static void resetConf(void)
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{
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@ -338,10 +350,7 @@ static void resetConf(void)
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masterConfig.gps_provider = GPS_NMEA;
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masterConfig.gps_initial_baudrate_index = GPS_BAUDRATE_115200;
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masterConfig.serialConfig.msp_baudrate = 115200;
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masterConfig.serialConfig.cli_baudrate = 115200;
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masterConfig.serialConfig.gps_passthrough_baudrate = 115200;
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masterConfig.serialConfig.reboot_character = 'R';
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resetSerialConfig(&masterConfig.serialConfig);
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masterConfig.looptime = 3500;
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masterConfig.emf_avoidance = 0;
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@ -34,3 +34,4 @@ void ensureEEPROMContainsValidData(void);
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void saveAndReloadCurrentProfileToCurrentProfileSlot(void);
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bool canSoftwareSerialBeUsed(void);
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@ -155,6 +155,7 @@ void resetBuffers(softSerial_t *softSerial)
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void initialiseSoftSerial(softSerial_t *softSerial, uint8_t portIndex, uint32_t baud, serialInversion_e inversion)
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{
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softSerial->port.vTable = softSerialVTable;
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softSerial->port.baudRate = baud;
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softSerial->port.mode = MODE_RXTX;
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softSerial->port.inversion = inversion;
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34
src/main.c
34
src/main.c
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@ -92,10 +92,6 @@ int main(void)
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drv_pwm_config_t pwm_params;
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drv_adc_config_t adc_params;
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bool sensorsOK = false;
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#ifdef SOFTSERIAL_LOOPBACK
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serialPort_t* loopbackPort1 = NULL;
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serialPort_t* loopbackPort2 = NULL;
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#endif
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initPrintfSupport();
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@ -154,6 +150,10 @@ int main(void)
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featureClear(FEATURE_SOFTSERIAL);
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}
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#ifndef FY90Q
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timerInit();
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#endif
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serialInit(&masterConfig.serialConfig);
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// when using airplane/wing mixer, servo/motor outputs are remapped
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@ -188,13 +188,10 @@ int main(void)
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break;
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}
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failsafe = failsafeInit(&masterConfig.rxConfig);
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buzzerInit(failsafe);
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#ifndef FY90Q
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timerInit();
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#endif
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pwmInit(&pwm_params);
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failsafe = failsafeInit(&masterConfig.rxConfig);
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buzzerInit(failsafe);
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rxInit(&masterConfig.rxConfig, failsafe);
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if (feature(FEATURE_GPS)) {
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@ -230,9 +227,28 @@ int main(void)
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f.SMALL_ANGLE = 1;
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#ifdef SOFTSERIAL_LOOPBACK
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// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
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serialPort_t *loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
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if (!loopbackPort->vTable) {
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openSoftSerial1(19200, false);
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}
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serialPrint(loopbackPort, "LOOPBACK\r\n");
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#endif
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// loopy
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while (1) {
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loop();
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#ifdef SOFTSERIAL_LOOPBACK
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if (loopbackPort) {
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while (serialTotalBytesWaiting(loopbackPort)) {
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uint8_t b = serialRead(loopbackPort);
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serialWrite(loopbackPort, b);
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};
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}
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#endif
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}
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}
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@ -168,6 +168,11 @@ const clivalue_t valueTable[] = {
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{ "fixedwing_althold_dir", VAR_INT8, &masterConfig.fixedwing_althold_dir, -1, 1 },
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{ "serial_port_1_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_1_scenario, 0, SERIAL_PORT_SCENARIO_MAX },
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{ "serial_port_2_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_2_scenario, 0, SERIAL_PORT_SCENARIO_MAX },
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{ "serial_port_3_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_3_scenario, 0, SERIAL_PORT_SCENARIO_MAX },
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{ "serial_port_4_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_4_scenario, 0, SERIAL_PORT_SCENARIO_MAX },
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{ "reboot_character", VAR_UINT8, &masterConfig.serialConfig.reboot_character, 48, 126 },
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{ "msp_baudrate", VAR_UINT32, &masterConfig.serialConfig.msp_baudrate, 1200, 115200 },
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{ "cli_baudrate", VAR_UINT32, &masterConfig.serialConfig.cli_baudrate, 1200, 115200 },
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@ -15,28 +15,38 @@
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#include "serial_msp.h"
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#include "serial_common.h"
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#include "config.h"
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void mspInit(serialConfig_t *serialConfig);
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void cliInit(serialConfig_t *serialConfig);
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void resetSerialConfig(serialConfig_t *serialConfig);
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// this exists so the user can reference scenarios by a number in the CLI instead of an unuser-friendly bitmask.
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const serialPortFunctionScenario_e serialPortScenarios[SERIAL_PORT_SCENARIO_COUNT] = {
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SCENARIO_UNUSED,
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// common scenarios in order of importance
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SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH,
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SCENARIO_GPS_ONLY,
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SCENARIO_SERIAL_RX_ONLY,
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SCENARIO_TELEMETRY_ONLY,
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// other scenarios
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SCENARIO_MSP_CLI_GPS_PASTHROUGH,
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SCENARIO_CLI_ONLY,
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SCENARIO_GPS_PASSTHROUGH_ONLY,
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SCENARIO_MSP_ONLY
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};
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static serialConfig_t *serialConfig;
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static serialPort_t *serialPorts[SERIAL_PORT_COUNT];
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static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, NULL, SCENARIO_MAIN_PORT, FUNCTION_NONE},
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{SERIAL_PORT_USART2, NULL, SCENARIO_GPS_AND_TELEMETRY, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL2, NULL, SCENARIO_UNUSED, FUNCTION_NONE}
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{SERIAL_PORT_USART1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_USART2, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL2, NULL, SCENARIO_UNUSED, FUNCTION_NONE}
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};
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#if 0 // example using softserial for telemetry, note that it is used because the scenario is more specific than telemetry on usart1
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static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, NULL, SCENARIO_MAIN_PORT, FUNCTION_NONE},
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{SERIAL_PORT_USART2, NULL, SCENARIO_GPS_ONLY, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_TELEMETRY_ONLY, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL2, NULL, SCENARIO_UNUSED, FUNCTION_NONE}
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};
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#endif
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const static serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, 9600, 115200, SPF_NONE | SPF_SUPPORTS_SBUS_MODE },
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{SERIAL_PORT_USART2, 9600, 115200, SPF_SUPPORTS_CALLBACK | SPF_SUPPORTS_SBUS_MODE},
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@ -61,23 +71,42 @@ const functionConstraint_t functionConstraints[] = {
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#define FUNCTION_CONSTRAINT_COUNT (sizeof(functionConstraints) / sizeof(functionConstraint_t))
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typedef struct serialPortSearchResult_s {
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bool found;
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serialPortIndex_e portIndex;
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serialPortFunction_t *portFunction;
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const serialPortConstraint_t *portConstraint;
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const functionConstraint_t *functionConstraint;
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} serialPortSearchResult_t;
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static serialPortIndex_e findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier)
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uint8_t lookupScenarioIndex(serialPortFunctionScenario_e scenario) {
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uint8_t index;
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for (index = 0; index < SERIAL_PORT_SCENARIO_COUNT; index++) {
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if (serialPortScenarios[index] == scenario) {
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break;
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}
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}
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return index;
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}
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static serialPortIndex_e lookupSerialPortIndexByIdentifier(serialPortIdentifier_e identifier)
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{
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serialPortIndex_e portIndex;
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for (portIndex = 0; portIndex < SERIAL_PORT_COUNT; portIndex++) {
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if (serialPortConstraints[portIndex].identifier == identifier) {
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return portIndex;
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break;
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}
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}
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return portIndex;
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}
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return SERIAL_PORT_1; // FIXME use failureMode() ? - invalid identifier used.
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static uint8_t lookupSerialPortFunctionIndexByIdentifier(serialPortIdentifier_e identifier)
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{
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uint8_t index;
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for (index = 0; index < SERIAL_PORT_COUNT; index++) {
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if (serialPortFunctions[index].identifier == identifier) {
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break;
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}
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}
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return index;
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}
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static const functionConstraint_t *findFunctionConstraint(serialPortFunction_e function)
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@ -113,7 +142,6 @@ static void sortSerialPortFunctions(serialPortFunction_t *serialPortFunctions, u
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qsort(serialPortFunctions, elements, sizeof(serialPortFunction_t), serialPortFunctionMostSpecificFirstComparator);
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}
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/*
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* since this method, and other methods that use it, use a single instance of
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* searchPortSearchResult be sure to copy the data out of it before it gets overwritten by another caller.
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@ -122,7 +150,6 @@ static void sortSerialPortFunctions(serialPortFunction_t *serialPortFunctions, u
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static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function)
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{
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static serialPortSearchResult_t serialPortSearchResult;
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serialPortSearchResult.found = false;
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const functionConstraint_t *functionConstraint = findFunctionConstraint(function);
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if (!functionConstraint) {
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@ -140,9 +167,16 @@ static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function)
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continue;
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}
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uint8_t serialPortIndex = findSerialPortIndexByIdentifier(serialPortFunction->identifier);
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uint8_t serialPortIndex = lookupSerialPortIndexByIdentifier(serialPortFunction->identifier);
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const serialPortConstraint_t *serialPortConstraint = &serialPortConstraints[serialPortIndex];
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if (!canSoftwareSerialBeUsed() && (
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serialPortConstraint->identifier == SERIAL_PORT_SOFTSERIAL1 ||
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serialPortConstraint->identifier == SERIAL_PORT_SOFTSERIAL2
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)) {
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continue;
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}
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if (functionConstraint->requiredSerialPortFeatures != SPF_NONE) {
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if (!(serialPortConstraint->feature & functionConstraint->requiredSerialPortFeatures)) {
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continue;
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@ -155,17 +189,16 @@ static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function)
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serialPortSearchResult.portConstraint = serialPortConstraint;
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serialPortSearchResult.portFunction = serialPortFunction;
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serialPortSearchResult.functionConstraint = functionConstraint;
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serialPortSearchResult.found = true;
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break;
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return &serialPortSearchResult;
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}
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return &serialPortSearchResult;
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return NULL;
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}
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bool canOpenSerialPort(uint16_t functionMask)
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{
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serialPortSearchResult_t *result = findSerialPort(functionMask);
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return result->found;
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return result != NULL;
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}
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serialPortFunction_t *findSerialPortFunction(uint16_t functionMask)
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@ -212,7 +245,7 @@ serialPort_t *openSerialPort(serialPortFunction_e function, serialReceiveCallbac
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serialPortSearchResult_t *searchResult = findSerialPort(function);
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if (!searchResult->found) {
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if (!searchResult) {
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return NULL;
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}
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serialPortIndex_e portIndex = searchResult->portIndex;
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@ -284,9 +317,56 @@ void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function)
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serialPortFunction->currentFunction = FUNCTION_NONE;
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}
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bool isSerialConfigValid(serialConfig_t *serialConfig)
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{
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serialPortSearchResult_t *searchResult;
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searchResult = findSerialPort(FUNCTION_MSP);
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if (!searchResult) {
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return false;
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}
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searchResult = findSerialPort(FUNCTION_CLI);
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if (!searchResult) {
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return false;
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}
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searchResult = findSerialPort(FUNCTION_GPS);
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if (feature(FEATURE_GPS) && !searchResult) {
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return false;
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}
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searchResult = findSerialPort(FUNCTION_SERIAL_RX);
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if (feature(FEATURE_SERIALRX) && !searchResult) {
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return false;
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}
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searchResult = findSerialPort(FUNCTION_TELEMETRY);
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if (feature(FEATURE_TELEMETRY) && !searchResult) {
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return false;
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}
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return true;
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}
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void applySerialConfigToPortFunctions(serialConfig_t *serialConfig)
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{
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART1)].scenario = serialPortScenarios[serialConfig->serial_port_1_scenario];
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART2)].scenario = serialPortScenarios[serialConfig->serial_port_2_scenario];
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL1)].scenario = serialPortScenarios[serialConfig->serial_port_3_scenario];
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL2)].scenario = serialPortScenarios[serialConfig->serial_port_4_scenario];
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}
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void serialInit(serialConfig_t *initialSerialConfig)
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{
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serialConfig = initialSerialConfig;
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applySerialConfigToPortFunctions(serialConfig);
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if (!isSerialConfigValid(serialConfig)) {
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resetSerialConfig(serialConfig);
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applySerialConfigToPortFunctions(serialConfig);
|
||||
}
|
||||
|
||||
mspInit(serialConfig);
|
||||
cliInit(serialConfig);
|
||||
|
|
|
|||
|
|
@ -11,18 +11,22 @@ typedef enum {
|
|||
} serialPortFunction_e;
|
||||
|
||||
typedef enum {
|
||||
SCENARIO_MAIN_PORT = FUNCTION_MSP | FUNCTION_CLI | FUNCTION_TELEMETRY | FUNCTION_GPS_PASSTHROUGH,
|
||||
SCENARIO_CLI_ONLY = FUNCTION_CLI,
|
||||
SCENARIO_GPS_AND_TELEMETRY = FUNCTION_GPS | FUNCTION_TELEMETRY,
|
||||
SCENARIO_GPS_PASSTHROUGH_ONLY = FUNCTION_GPS_PASSTHROUGH,
|
||||
SCENARIO_GPS_ONLY = FUNCTION_GPS,
|
||||
SCENARIO_MSP_ONLY = FUNCTION_MSP,
|
||||
SCENARIO_SERIAL_RX_ONLY = FUNCTION_SERIAL_RX,
|
||||
SCENARIO_TELEMETRY_ONLY = FUNCTION_TELEMETRY,
|
||||
SCENARIO_MSP_CLI_GPS_PASTHROUGH = FUNCTION_CLI | FUNCTION_MSP | FUNCTION_GPS_PASSTHROUGH,
|
||||
SCENARIO_UNUSED = FUNCTION_NONE
|
||||
SCENARIO_UNUSED = FUNCTION_NONE,
|
||||
|
||||
SCENARIO_CLI_ONLY = FUNCTION_CLI,
|
||||
SCENARIO_GPS_ONLY = FUNCTION_GPS,
|
||||
SCENARIO_GPS_PASSTHROUGH_ONLY = FUNCTION_GPS_PASSTHROUGH,
|
||||
SCENARIO_MSP_ONLY = FUNCTION_MSP,
|
||||
SCENARIO_MSP_CLI_GPS_PASTHROUGH = FUNCTION_CLI | FUNCTION_MSP | FUNCTION_GPS_PASSTHROUGH,
|
||||
SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH = FUNCTION_MSP | FUNCTION_CLI | FUNCTION_TELEMETRY | FUNCTION_GPS_PASSTHROUGH,
|
||||
SCENARIO_SERIAL_RX_ONLY = FUNCTION_SERIAL_RX,
|
||||
SCENARIO_TELEMETRY_ONLY = FUNCTION_TELEMETRY,
|
||||
} serialPortFunctionScenario_e;
|
||||
|
||||
#define SERIAL_PORT_SCENARIO_COUNT 9
|
||||
#define SERIAL_PORT_SCENARIO_MAX (SERIAL_PORT_SCENARIO_COUNT - 1)
|
||||
extern const serialPortFunctionScenario_e serialPortScenarios[SERIAL_PORT_SCENARIO_COUNT];
|
||||
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
typedef enum {
|
||||
|
|
@ -62,6 +66,11 @@ typedef struct serialPortFunction_s {
|
|||
} serialPortFunction_t;
|
||||
|
||||
typedef struct serialConfig_s {
|
||||
uint8_t serial_port_1_scenario;
|
||||
uint8_t serial_port_2_scenario;
|
||||
uint8_t serial_port_3_scenario;
|
||||
uint8_t serial_port_4_scenario;
|
||||
|
||||
uint32_t msp_baudrate;
|
||||
uint32_t cli_baudrate;
|
||||
uint32_t gps_passthrough_baudrate;
|
||||
|
|
@ -71,6 +80,8 @@ typedef struct serialConfig_s {
|
|||
uint8_t reboot_character; // which byte is used to reboot. Default 'R', could be changed carefully to something else.
|
||||
} serialConfig_t;
|
||||
|
||||
uint8_t lookupScenarioIndex(serialPortFunctionScenario_e scenario);
|
||||
|
||||
serialPort_t *findOpenSerialPort(uint16_t functionMask);
|
||||
serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue