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AP_Periph: add Networking-UART passthrough
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| 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 <http://www.gnu.org/licenses/>. | ||
| */ | ||
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| #include "AP_Periph.h" | ||
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| #ifdef HAL_PERIPH_ENABLE_NETWORKING | ||
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| extern const AP_HAL::HAL &hal; | ||
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| const AP_Param::GroupInfo Networking_Periph::var_info[] { | ||
| // @Group: _ | ||
| // @Path: ../AP_Networking/AP_Networking.cpp | ||
| AP_SUBGROUPINFO(networking, "_", 1, Networking_Periph, AP_Networking), | ||
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| /* | ||
| the NET_Pn_ parameters need to be bere as otherwise we | ||
| are too deep in the parameter tree | ||
| */ | ||
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| #if AP_NETWORKING_NUM_PORTS > 0 | ||
| // @Group: _P1_ | ||
| // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp | ||
| AP_SUBGROUPINFO(networking.ports[0], "_P1_", 2, Networking_Periph, AP_Networking::Port), | ||
| #endif | ||
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| #if AP_NETWORKING_NUM_PORTS > 1 | ||
| // @Group: _P2_ | ||
| // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp | ||
| AP_SUBGROUPINFO(networking.ports[1], "_P2_", 3, Networking_Periph, AP_Networking::Port), | ||
| #endif | ||
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| #if AP_NETWORKING_NUM_PORTS > 2 | ||
| // @Group: _P3_ | ||
| // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp | ||
| AP_SUBGROUPINFO(networking.ports[2], "_P3_", 4, Networking_Periph, AP_Networking::Port), | ||
| #endif | ||
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| #if AP_NETWORKING_NUM_PORTS > 3 | ||
| // @Group: _P4_ | ||
| // @Path: ../libraries/AP_Networking/AP_Networking_port.cpp | ||
| AP_SUBGROUPINFO(networking.ports[3], "_P4_", 5, Networking_Periph, AP_Networking::Port), | ||
| #endif | ||
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| AP_GROUPEND | ||
| }; | ||
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| Networking_Periph::Networking_Periph(void) | ||
| { | ||
| AP_Param::setup_object_defaults(this, var_info); | ||
| } | ||
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| /* | ||
| update UART pass-thru, if enabled | ||
| */ | ||
| void Networking_Periph::update_passthru(void) | ||
| { | ||
| WITH_SEMAPHORE(_passthru.sem); | ||
| uint32_t now = AP_HAL::millis(); | ||
| uint32_t baud1, baud2; | ||
| bool enabled = AP::serialmanager().get_passthru(_passthru.port1, _passthru.port2, _passthru.timeout_s, | ||
| baud1, baud2); | ||
| if (enabled && !_passthru.enabled) { | ||
| _passthru.start_ms = now; | ||
| _passthru.last_ms = 0; | ||
| _passthru.enabled = true; | ||
| _passthru.last_port1_data_ms = now; | ||
| _passthru.baud1 = baud1; | ||
| _passthru.baud2 = baud2; | ||
| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Passthru enabled"); | ||
| if (!_passthru.timer_installed) { | ||
| _passthru.timer_installed = true; | ||
| hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&Networking_Periph::passthru_timer, void)); | ||
| } | ||
| } else if (!enabled && _passthru.enabled) { | ||
| _passthru.enabled = false; | ||
| _passthru.port1->lock_port(0, 0); | ||
| _passthru.port2->lock_port(0, 0); | ||
| // Restore original baudrates | ||
| if (_passthru.baud1 != baud1) { | ||
| _passthru.port1->end(); | ||
| _passthru.port1->begin(baud1); | ||
| } | ||
| if (_passthru.baud2 != baud2) { | ||
| _passthru.port2->end(); | ||
| _passthru.port2->begin(baud2); | ||
| } | ||
| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Passthru disabled"); | ||
| } else if (enabled && | ||
| _passthru.timeout_s && | ||
| now - _passthru.last_port1_data_ms > uint32_t(_passthru.timeout_s)*1000U) { | ||
| // timed out, disable | ||
| _passthru.enabled = false; | ||
| _passthru.port1->lock_port(0, 0); | ||
| _passthru.port2->lock_port(0, 0); | ||
| AP::serialmanager().disable_passthru(); | ||
| // Restore original baudrates | ||
| if (_passthru.baud1 != baud1) { | ||
| _passthru.port1->end(); | ||
| _passthru.port1->begin(baud1); | ||
| } | ||
| if (_passthru.baud2 != baud2) { | ||
| _passthru.port2->end(); | ||
| _passthru.port2->begin(baud2); | ||
| } | ||
| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Passthru timed out"); | ||
| } | ||
| } | ||
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| /* | ||
| called at 1kHz to handle pass-thru between SERIA0_PASSTHRU port and hal.console | ||
| */ | ||
| void Networking_Periph::passthru_timer(void) | ||
| { | ||
| WITH_SEMAPHORE(_passthru.sem); | ||
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| if (!_passthru.enabled) { | ||
| // it has been disabled after starting | ||
| return; | ||
| } | ||
| if (_passthru.start_ms != 0) { | ||
| uint32_t now = AP_HAL::millis(); | ||
| if (now - _passthru.start_ms < 1000) { | ||
| // delay for 1s so the reply for the SERIAL0_PASSTHRU param set can be seen by GCS | ||
| return; | ||
| } | ||
| _passthru.start_ms = 0; | ||
| _passthru.port1->begin(_passthru.baud1); | ||
| _passthru.port2->begin(_passthru.baud2); | ||
| } | ||
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| // while pass-thru is enabled lock both ports. They remain | ||
| // locked until disabled again, or reboot | ||
| const uint32_t lock_key = 0x3256AB9F; | ||
| _passthru.port1->lock_port(lock_key, lock_key); | ||
| _passthru.port2->lock_port(lock_key, lock_key); | ||
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| // Check for requested Baud rates over USB | ||
| uint32_t baud = _passthru.port1->get_usb_baud(); | ||
| if (_passthru.baud2 != baud && baud != 0) { | ||
| _passthru.baud2 = baud; | ||
| _passthru.port2->end(); | ||
| _passthru.port2->begin_locked(baud, 0, 0, lock_key); | ||
| } | ||
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| baud = _passthru.port2->get_usb_baud(); | ||
| if (_passthru.baud1 != baud && baud != 0) { | ||
| _passthru.baud1 = baud; | ||
| _passthru.port1->end(); | ||
| _passthru.port1->begin_locked(baud, 0, 0, lock_key); | ||
| } | ||
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| uint8_t buf[64]; | ||
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| // read from port1, and write to port2 | ||
| int16_t nbytes = _passthru.port1->read_locked(buf, sizeof(buf), lock_key); | ||
| if (nbytes > 0) { | ||
| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "data1 %d", nbytes); | ||
| _passthru.last_port1_data_ms = AP_HAL::millis(); | ||
| _passthru.port2->write_locked(buf, nbytes, lock_key); | ||
| } | ||
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| // read from port2, and write to port1 | ||
| nbytes = _passthru.port2->read_locked(buf, sizeof(buf), lock_key); | ||
| if (nbytes > 0) { | ||
| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "data2 %d", nbytes); | ||
| _passthru.port1->write_locked(buf, nbytes, lock_key); | ||
| } | ||
| } | ||
| #endif // HAL_PERIPH_ENABLE_NETWORKING | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| #pragma once | ||
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| #ifdef HAL_PERIPH_ENABLE_NETWORKING | ||
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| class Networking_Periph { | ||
| public: | ||
| friend class AP_Periph_FW; | ||
| friend class AP_Netwokring; | ||
| Networking_Periph(void); | ||
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| static const struct AP_Param::GroupInfo var_info[]; | ||
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| // update uart pass-thru | ||
| void update_passthru(); | ||
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| private: | ||
| AP_Networking networking; | ||
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| struct { | ||
| bool enabled; | ||
| bool timer_installed; | ||
| AP_HAL::UARTDriver *port1; | ||
| AP_HAL::UARTDriver *port2; | ||
| uint32_t start_ms; | ||
| uint32_t last_ms; | ||
| uint32_t last_port1_data_ms; | ||
| uint32_t baud1; | ||
| uint32_t baud2; | ||
| uint8_t timeout_s; | ||
| HAL_Semaphore sem; | ||
| } _passthru; | ||
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| // timer called to implement pass-thru | ||
| void passthru_timer(); | ||
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| }; | ||
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| #endif // HAL_PERIPH_ENABLE_BATTERY_BALANCE | ||
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