From 044ca22ab01123a0d14333e00b9247d9bd0040f0 Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Tue, 21 Nov 2023 16:54:06 -0800 Subject: [PATCH] AP_Periph: add Networking-UART passthrough --- Tools/AP_Periph/AP_Periph.cpp | 4 +- Tools/AP_Periph/AP_Periph.h | 3 +- Tools/AP_Periph/Parameters.cpp | 4 +- Tools/AP_Periph/Parameters.h | 2 +- Tools/AP_Periph/networking.cpp | 223 +++++++++++++++++++++++++++++++++ Tools/AP_Periph/networking.h | 56 +++++++++ 6 files changed, 286 insertions(+), 6 deletions(-) create mode 100644 Tools/AP_Periph/networking.cpp create mode 100644 Tools/AP_Periph/networking.h diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp index b4e707d0b2e65d..4d5cfdcbea1558 100644 --- a/Tools/AP_Periph/AP_Periph.cpp +++ b/Tools/AP_Periph/AP_Periph.cpp @@ -101,7 +101,7 @@ void AP_Periph_FW::init() can_start(); #ifdef HAL_PERIPH_ENABLE_NETWORKING - networking.init(); + networking_periph.init(); #endif #if HAL_GCS_ENABLED @@ -502,7 +502,7 @@ void AP_Periph_FW::update() can_update(); #ifdef HAL_PERIPH_ENABLE_NETWORKING - networking.update(); + networking_periph.update(); #endif #if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || defined(HAL_PERIPH_ENABLE_NOTIFY) diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h index 8ed77e88fc1fbe..376e7245ba0e0d 100644 --- a/Tools/AP_Periph/AP_Periph.h +++ b/Tools/AP_Periph/AP_Periph.h @@ -36,6 +36,7 @@ #include #include "rc_in.h" #include "batt_balance.h" +#include "networking.h" #include #if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS)) @@ -356,7 +357,7 @@ class AP_Periph_FW { #endif #ifdef HAL_PERIPH_ENABLE_NETWORKING - AP_Networking networking; + Networking_Periph networking_periph; #endif #ifdef HAL_PERIPH_ENABLE_RTC diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp index 02da8a657a23be..a2cbe3d488b911 100644 --- a/Tools/AP_Periph/Parameters.cpp +++ b/Tools/AP_Periph/Parameters.cpp @@ -566,8 +566,8 @@ const AP_Param::Info AP_Periph_FW::var_info[] = { #ifdef HAL_PERIPH_ENABLE_NETWORKING // @Group: NET_ - // @Path: ../libraries/AP_Networking/AP_Networking.cpp - GOBJECT(networking, "NET_", AP_Networking), + // @Path: networking.cpp + GOBJECT(networking_periph, "NET_", Networking_Periph), #endif #ifdef HAL_PERIPH_ENABLE_RPM diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h index fb4a628b021099..68efb057f6aa84 100644 --- a/Tools/AP_Periph/Parameters.h +++ b/Tools/AP_Periph/Parameters.h @@ -76,7 +76,7 @@ class Parameters { k_param_esc_number1, k_param_pole_count1, k_param_esc_serial_port1, - k_param_networking, + k_param_networking_periph, k_param_rpm_sensor, k_param_g_rcin, k_param_sitl, diff --git a/Tools/AP_Periph/networking.cpp b/Tools/AP_Periph/networking.cpp new file mode 100644 index 00000000000000..dde815da4a1c9a --- /dev/null +++ b/Tools/AP_Periph/networking.cpp @@ -0,0 +1,223 @@ +/* + This program 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. + + This program 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 this program. If not, see . + */ + +#include "AP_Periph.h" + +#ifdef HAL_PERIPH_ENABLE_NETWORKING + +#include + +extern const AP_HAL::HAL &hal; + +const AP_Param::GroupInfo Networking_Periph::var_info[] { + // @Group: + // @Path: ../AP_Networking/AP_Networking.cpp + AP_SUBGROUPINFO(networking_lib, "", 1, Networking_Periph, AP_Networking), + + /* + the NET_Pn_ parameters need to be bere as otherwise we + are too deep in the parameter tree + */ + +#if AP_NETWORKING_NUM_PORTS > 0 + // @Group: P1_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[0], "P1_", 2, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 1 + // @Group: P2_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[1], "P2_", 3, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 2 + // @Group: P3_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[2], "P3_", 4, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 3 + // @Group: P4_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[3], "P4_", 5, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 4 + // @Group: P5_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[4], "P5_", 6, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 5 + // @Group: P6_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[5], "P6_", 7, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 6 + // @Group: P7_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[6], "P7_", 8, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 7 + // @Group: P8_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[7], "P8_", 9, Networking_Periph, AP_Networking::Port), +#endif + +#if AP_NETWORKING_NUM_PORTS > 8 + // @Group: P9_ + // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp + AP_SUBGROUPINFO(networking_lib.ports[8], "P9_", 10, Networking_Periph, AP_Networking::Port), +#endif + + + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 + // @Group: PASS1_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[0], "PASS1_", 11, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 1 + // @Group: PASS2_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[1], "PASS2_", 12, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 2 + // @Group: PASS3_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[2], "PASS3_", 13, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 3 + // @Group: PASS4_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[3], "PASS4_", 14, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 4 + // @Group: PASS5_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[4], "PASS5_", 15, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 5 + // @Group: PASS6_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[5], "PASS6_", 16, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 6 + // @Group: PASS7_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[6], "PASS7_", 17, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 7 + // @Group: PASS8_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[7], "PASS8_", 18, Networking_Periph, Passthru), +#endif + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 8 + // @Group: PASS9_ + // @Path: networking.cpp + AP_SUBGROUPINFO(passthru[8], "PASS9_", 19, Networking_Periph, Passthru), +#endif + + AP_GROUPEND +}; + + +const AP_Param::GroupInfo Networking_Periph::Passthru::var_info[] = { + AP_GROUPINFO_FLAGS("ENABLE", 1, Networking_Periph::Passthru, enabled, 0, AP_PARAM_FLAG_ENABLE), + AP_GROUPINFO("EP1", 2, Networking_Periph::Passthru, ep1, -1), + AP_GROUPINFO("EP2", 3, Networking_Periph::Passthru, ep2, -1), + AP_GROUPINFO("BAUD1", 4, Networking_Periph::Passthru, baud1, 115200), + AP_GROUPINFO("BAUD2", 5, Networking_Periph::Passthru, baud2, 115200), + AP_GROUPINFO("OPT1", 6, Networking_Periph::Passthru, options1, 0), + AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0), + + AP_GROUPEND +}; + +void Networking_Periph::init(void) +{ + networking_lib.init(); + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 + auto &serial_manager = AP::serialmanager(); + + for (auto &p : passthru) { + if (p.enabled != 0 && p.port1 == nullptr && p.port2 == nullptr && + p.ep1 != -1 && p.ep2 != -1 && p.ep1 != p.ep2) { + + p.port1 = serial_manager.get_serial_by_id(p.ep1); + p.port2 = serial_manager.get_serial_by_id(p.ep2); + + if (p.port1 != nullptr && p.port2 != nullptr) { + p.port1->set_options(p.options1); + p.port1->begin(p.baud1); + + p.port2->set_options(p.options2); + p.port2->begin(p.baud2); + } + } + } +#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU +} + +void Networking_Periph::update(void) +{ + networking_lib.update(); + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 + for (auto &p : passthru) { + if (p.enabled == 0 || p.port1 == nullptr || p.port2 == nullptr) { + continue; + } + uint8_t buf[1024]; + + // read from port1, and write to port2 + auto avail = p.port1->available(); + if (avail > 0) { + auto space = p.port2->txspace(); + const uint32_t n = MIN(space, sizeof(buf)); + const auto nbytes = p.port1->read(buf, n); + if (nbytes > 0) { + p.port2->write(buf, nbytes); + } + } + + // read from port2, and write to port1 + avail = p.port2->available(); + if (avail > 0) { + auto space = p.port1->txspace(); + const uint32_t n = MIN(space, sizeof(buf)); + const auto nbytes = p.port2->read(buf, n); + if (nbytes > 0) { + p.port1->write(buf, nbytes); + } + } + } +#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU +} + +#endif // HAL_PERIPH_ENABLE_NETWORKING + diff --git a/Tools/AP_Periph/networking.h b/Tools/AP_Periph/networking.h new file mode 100644 index 00000000000000..054ff77f35969f --- /dev/null +++ b/Tools/AP_Periph/networking.h @@ -0,0 +1,56 @@ +#pragma once + +#ifdef HAL_PERIPH_ENABLE_NETWORKING + +#ifndef HAL_PERIPH_NETWORK_NUM_PASSTHRU +#define HAL_PERIPH_NETWORK_NUM_PASSTHRU 4 +#endif + +class Networking_Periph { +public: + friend class AP_Periph_FW; + friend class AP_Networking; + + Networking_Periph() { + AP_Param::setup_object_defaults(this, var_info); + } + + static const struct AP_Param::GroupInfo var_info[]; + + void init(); + void update(); + +private: + +#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 + class Passthru { + public: + friend class Networking_Periph; + + CLASS_NO_COPY(Passthru); + + Passthru() { + AP_Param::setup_object_defaults(this, var_info); + } + + static const struct AP_Param::GroupInfo var_info[]; + + private: + AP_Int8 enabled; + AP_Int8 ep1; + AP_Int8 ep2; + AP_Int32 baud1; + AP_Int32 baud2; + AP_Int32 options1; + AP_Int32 options2; + + AP_HAL::UARTDriver *port1; + AP_HAL::UARTDriver *port2; + } passthru[HAL_PERIPH_NETWORK_NUM_PASSTHRU]; +#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU + + AP_Networking networking_lib; +}; + +#endif // HAL_PERIPH_ENABLE_BATTERY_BALANCE +