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atbetaflight/src/main/io/serial.c

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "build/build_config.h"
#include "common/utils.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "fc/config.h"
#include "drivers/time.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#if defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)
#include "drivers/serial_softserial.h"
#endif
#define USE_UART (defined(USE_UART1) || defined(USE_UART2) || defined(USE_UART3) || defined(USE_UART4) || defined(USE_UART5) || defined(USE_UART6) || defined(USE_UART7) || defined(USE_UART8))
#define USE_SERIAL (USE_UART || defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
#if USE_UART
#include "drivers/serial_uart.h"
#endif
#ifdef SITL
#include "drivers/serial_tcp.h"
#endif
#include "drivers/light_led.h"
#if defined(USE_VCP)
#include "drivers/serial_usb_vcp.h"
#endif
#include "io/serial.h"
#include "fc/cli.h"
#include "msp/msp_serial.h"
#ifdef TELEMETRY
#include "telemetry/telemetry.h"
#endif
static serialPortUsage_t serialPortUsageList[SERIAL_PORT_COUNT];
const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
#ifdef USE_VCP
SERIAL_PORT_USB_VCP,
#endif
#ifdef USE_UART1
SERIAL_PORT_USART1,
#endif
#ifdef USE_UART2
SERIAL_PORT_USART2,
#endif
#ifdef USE_UART3
SERIAL_PORT_USART3,
#endif
#ifdef USE_UART4
SERIAL_PORT_UART4,
#endif
#ifdef USE_UART5
SERIAL_PORT_UART5,
#endif
#ifdef USE_UART6
SERIAL_PORT_USART6,
#endif
#ifdef USE_UART7
SERIAL_PORT_USART7,
#endif
#ifdef USE_UART8
SERIAL_PORT_USART8,
#endif
#ifdef USE_SOFTSERIAL1
SERIAL_PORT_SOFTSERIAL1,
#endif
#ifdef USE_SOFTSERIAL2
SERIAL_PORT_SOFTSERIAL2,
#endif
};
static uint8_t serialPortCount;
const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
400000, 460800, 500000, 921600, 1000000, 1500000, 2000000, 2470000}; // see baudRate_e
#define BAUD_RATE_COUNT (sizeof(baudRates) / sizeof(baudRates[0]))
PG_REGISTER_WITH_RESET_FN(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 0);
void pgResetFn_serialConfig(serialConfig_t *serialConfig)
{
memset(serialConfig, 0, sizeof(serialConfig_t));
for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
serialConfig->portConfigs[i].identifier = serialPortIdentifiers[i];
serialConfig->portConfigs[i].msp_baudrateIndex = BAUD_115200;
serialConfig->portConfigs[i].gps_baudrateIndex = BAUD_57600;
serialConfig->portConfigs[i].telemetry_baudrateIndex = BAUD_AUTO;
serialConfig->portConfigs[i].blackbox_baudrateIndex = BAUD_115200;
}
serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
#if defined(USE_VCP) && defined(USE_MSP_UART)
if (serialConfig->portConfigs[0].identifier == SERIAL_PORT_USB_VCP) {
serialPortConfig_t * uart1Config = serialFindPortConfiguration(SERIAL_PORT_USART1);
if (uart1Config) {
uart1Config->functionMask = FUNCTION_MSP;
}
}
#endif
#ifdef SERIALRX_UART
serialPortConfig_t *serialRxUartConfig = serialFindPortConfiguration(SERIALRX_UART);
if (serialRxUartConfig) {
serialRxUartConfig->functionMask = FUNCTION_RX_SERIAL;
}
#endif
serialConfig->reboot_character = 'R';
serialConfig->serial_update_rate_hz = 100;
}
baudRate_e lookupBaudRateIndex(uint32_t baudRate)
{
uint8_t index;
for (index = 0; index < BAUD_RATE_COUNT; index++) {
if (baudRates[index] == baudRate) {
return index;
}
}
return BAUD_AUTO;
}
int findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier)
{
for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
if (serialPortIdentifiers[index] == identifier) {
return index;
}
}
return -1;
}
serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier)
{
uint8_t index;
for (index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortUsage_t *candidate = &serialPortUsageList[index];
if (candidate->identifier == identifier) {
return candidate;
}
}
return NULL;
}
serialPortUsage_t *findSerialPortUsageByPort(serialPort_t *serialPort) {
uint8_t index;
for (index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortUsage_t *candidate = &serialPortUsageList[index];
if (candidate->serialPort == serialPort) {
return candidate;
}
}
return NULL;
}
typedef struct findSerialPortConfigState_s {
uint8_t lastIndex;
} findSerialPortConfigState_t;
static findSerialPortConfigState_t findSerialPortConfigState;
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
{
memset(&findSerialPortConfigState, 0, sizeof(findSerialPortConfigState));
return findNextSerialPortConfig(function);
}
serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function)
{
while (findSerialPortConfigState.lastIndex < SERIAL_PORT_COUNT) {
serialPortConfig_t *candidate = &serialConfigMutable()->portConfigs[findSerialPortConfigState.lastIndex++];
if (candidate->functionMask & function) {
return candidate;
}
}
return NULL;
}
typedef struct findSharedSerialPortState_s {
uint8_t lastIndex;
} findSharedSerialPortState_t;
portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function)
{
if (!portConfig || (portConfig->functionMask & function) == 0) {
return PORTSHARING_UNUSED;
}
return portConfig->functionMask == function ? PORTSHARING_NOT_SHARED : PORTSHARING_SHARED;
}
bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction)
{
return (portConfig) && (portConfig->functionMask & sharedWithFunction) && (portConfig->functionMask & functionMask);
}
static findSharedSerialPortState_t findSharedSerialPortState;
serialPort_t *findSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction)
{
memset(&findSharedSerialPortState, 0, sizeof(findSharedSerialPortState));
return findNextSharedSerialPort(functionMask, sharedWithFunction);
}
serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction)
{
while (findSharedSerialPortState.lastIndex < SERIAL_PORT_COUNT) {
const serialPortConfig_t *candidate = &serialConfig()->portConfigs[findSharedSerialPortState.lastIndex++];
if (isSerialPortShared(candidate, functionMask, sharedWithFunction)) {
const serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(candidate->identifier);
if (!serialPortUsage) {
continue;
}
return serialPortUsage->serialPort;
}
}
return NULL;
}
#ifdef TELEMETRY
#define ALL_TELEMETRY_FUNCTIONS_MASK (TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT)
#define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX | ALL_TELEMETRY_FUNCTIONS_MASK)
#else
#define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX)
#endif
bool isSerialConfigValid(const serialConfig_t *serialConfigToCheck)
{
UNUSED(serialConfigToCheck);
/*
* rules:
* - 1 MSP port minimum, max MSP ports is defined and must be adhered to.
* - MSP is allowed to be shared with EITHER any telemetry OR blackbox.
* (using either / or, switching based on armed / disarmed or an AUX channel if 'telemetry_switch' is true
* - serial RX and FrSky / LTM / MAVLink telemetry can be shared
* (serial RX using RX line, telemetry using TX line)
* - No other sharing combinations are valid.
*/
uint8_t mspPortCount = 0;
for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
const serialPortConfig_t *portConfig = &serialConfigToCheck->portConfigs[index];
if (portConfig->functionMask & FUNCTION_MSP) {
mspPortCount++;
}
uint8_t bitCount = BITCOUNT(portConfig->functionMask);
if (bitCount > 1) {
// shared
if (bitCount > 2) {
return false;
}
if ((portConfig->functionMask & FUNCTION_MSP) && (portConfig->functionMask & ALL_FUNCTIONS_SHARABLE_WITH_MSP)) {
// MSP & telemetry
#ifdef TELEMETRY
} else if (telemetryCheckRxPortShared(portConfig)) {
// serial RX & telemetry
#endif
} else {
// some other combination
return false;
}
}
}
if (mspPortCount == 0 || mspPortCount > MAX_MSP_PORT_COUNT) {
return false;
}
return true;
}
serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e identifier)
{
for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortConfig_t *candidate = &serialConfigMutable()->portConfigs[index];
if (candidate->identifier == identifier) {
return candidate;
}
}
return NULL;
}
bool doesConfigurationUsePort(serialPortIdentifier_e identifier)
{
serialPortConfig_t *candidate = serialFindPortConfiguration(identifier);
return candidate != NULL && candidate->functionMask;
}
serialPort_t *openSerialPort(
serialPortIdentifier_e identifier,
serialPortFunction_e function,
serialReceiveCallbackPtr rxCallback,
uint32_t baudRate,
portMode_t mode,
portOptions_t options)
{
#if !(USE_SERIAL)
UNUSED(rxCallback);
UNUSED(baudRate);
UNUSED(mode);
UNUSED(options);
#endif
serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(identifier);
if (!serialPortUsage || serialPortUsage->function != FUNCTION_NONE) {
// not available / already in use
return NULL;
}
serialPort_t *serialPort = NULL;
switch(identifier) {
#ifdef USE_VCP
case SERIAL_PORT_USB_VCP:
serialPort = usbVcpOpen();
break;
#endif
#if defined(USE_UART)
#ifdef USE_UART1
case SERIAL_PORT_USART1:
#endif
#ifdef USE_UART2
case SERIAL_PORT_USART2:
#endif
#ifdef USE_UART3
case SERIAL_PORT_USART3:
#endif
#ifdef USE_UART4
case SERIAL_PORT_UART4:
#endif
#ifdef USE_UART5
case SERIAL_PORT_UART5:
#endif
#ifdef USE_UART6
case SERIAL_PORT_USART6:
#endif
#ifdef USE_UART7
case SERIAL_PORT_USART7:
#endif
#ifdef USE_UART8
case SERIAL_PORT_USART8:
#endif
#ifdef SITL
// SITL emulates serial ports over TCP
serialPort = serTcpOpen(SERIAL_PORT_IDENTIFIER_TO_UARTDEV(identifier), rxCallback, baudRate, mode, options);
#else
serialPort = uartOpen(SERIAL_PORT_IDENTIFIER_TO_UARTDEV(identifier), rxCallback, baudRate, mode, options);
#endif
break;
#endif
#ifdef USE_SOFTSERIAL1
case SERIAL_PORT_SOFTSERIAL1:
serialPort = openSoftSerial(SOFTSERIAL1, rxCallback, baudRate, mode, options);
break;
#endif
#ifdef USE_SOFTSERIAL2
case SERIAL_PORT_SOFTSERIAL2:
serialPort = openSoftSerial(SOFTSERIAL2, rxCallback, baudRate, mode, options);
break;
#endif
default:
break;
}
if (!serialPort) {
return NULL;
}
serialPort->identifier = identifier;
serialPortUsage->function = function;
serialPortUsage->serialPort = serialPort;
return serialPort;
}
void closeSerialPort(serialPort_t *serialPort)
{
serialPortUsage_t *serialPortUsage = findSerialPortUsageByPort(serialPort);
if (!serialPortUsage) {
// already closed
return;
}
// TODO wait until data has been transmitted.
serialPort->rxCallback = NULL;
serialPortUsage->function = FUNCTION_NONE;
serialPortUsage->serialPort = NULL;
}
void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
{
#if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
UNUSED(softserialEnabled);
#endif
serialPortCount = SERIAL_PORT_COUNT;
memset(&serialPortUsageList, 0, sizeof(serialPortUsageList));
for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortUsageList[index].identifier = serialPortIdentifiers[index];
if (serialPortToDisable != SERIAL_PORT_NONE) {
if (serialPortUsageList[index].identifier == serialPortToDisable) {
serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
serialPortCount--;
}
}
if ((serialPortUsageList[index].identifier == SERIAL_PORT_SOFTSERIAL1
#ifdef USE_SOFTSERIAL1
&& !(softserialEnabled && serialPinConfig()->ioTagTx[RESOURCE_SOFT_OFFSET + SOFTSERIAL1])
#endif
) || (serialPortUsageList[index].identifier == SERIAL_PORT_SOFTSERIAL2
#ifdef USE_SOFTSERIAL2
&& !(softserialEnabled && serialPinConfig()->ioTagTx[RESOURCE_SOFT_OFFSET + SOFTSERIAL2])
#endif
)) {
serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
serialPortCount--;
}
}
}
void serialRemovePort(serialPortIdentifier_e identifier)
{
for (uint8_t index = 0; index < SERIAL_PORT_COUNT; index++) {
if (serialPortUsageList[index].identifier == identifier) {
serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
serialPortCount--;
}
}
}
uint8_t serialGetAvailablePortCount(void)
{
return serialPortCount;
}
bool serialIsPortAvailable(serialPortIdentifier_e identifier)
{
for (uint8_t index = 0; index < SERIAL_PORT_COUNT; index++) {
if (serialPortUsageList[index].identifier == identifier) {
return true;
}
}
return false;
}
void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort)
{
while (!isSerialTransmitBufferEmpty(serialPort)) {
delay(10);
};
}
void serialEvaluateNonMspData(serialPort_t *serialPort, uint8_t receivedChar)
{
#ifndef USE_CLI
UNUSED(serialPort);
#else
if (receivedChar == '#') {
cliEnter(serialPort);
}
#endif
if (receivedChar == serialConfig()->reboot_character) {
systemResetToBootloader();
}
}
#if defined(GPS) || ! defined(SKIP_SERIAL_PASSTHROUGH)
// Default data consumer for serialPassThrough.
static void nopConsumer(uint8_t data)
{
UNUSED(data);
}
/*
A high-level serial passthrough implementation. Used by cli to start an
arbitrary serial passthrough "proxy". Optional callbacks can be given to allow
for specialized data processing.
*/
void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer *leftC, serialConsumer *rightC)
{
waitForSerialPortToFinishTransmitting(left);
waitForSerialPortToFinishTransmitting(right);
if (!leftC)
leftC = &nopConsumer;
if (!rightC)
rightC = &nopConsumer;
LED0_OFF;
LED1_OFF;
// Either port might be open in a mode other than MODE_RXTX. We rely on
// serialRxBytesWaiting() to do the right thing for a TX only port. No
// special handling is necessary OR performed.
while(1) {
// TODO: maintain a timestamp of last data received. Use this to
// implement a guard interval and check for `+++` as an escape sequence
// to return to CLI command mode.
// https://en.wikipedia.org/wiki/Escape_sequence#Modem_control
if (serialRxBytesWaiting(left)) {
LED0_ON;
uint8_t c = serialRead(left);
serialWrite(right, c);
leftC(c);
LED0_OFF;
}
if (serialRxBytesWaiting(right)) {
LED0_ON;
uint8_t c = serialRead(right);
serialWrite(left, c);
rightC(c);
LED0_OFF;
}
}
}
#endif
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