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DroneCAN: serial over CAN backport for 4.4.x #25599

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DroneCAN: serial over CAN backport for 4.4.x #25599

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b3c2f00
AP_SerialManager: added register_port() API
tridge Nov 16, 2023
76dcc5d
AP_UAVCAN: implement serial ports on dronecan (backport for 4.4)
tridge Nov 22, 2023
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104 changes: 94 additions & 10 deletions libraries/AP_SerialManager/AP_SerialManager.cpp
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Open in desktop
Expand Up @@ -397,6 +397,8 @@ void AP_SerialManager::init()
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
auto *uart = hal.serial(i);

state[i].idx = i;

if (uart != nullptr) {
set_options(i);
switch (state[i].protocol) {
Expand Down Expand Up @@ -547,6 +549,17 @@ const AP_SerialManager::UARTState *AP_SerialManager::find_protocol_instance(enum
}
}

#if AP_SERIALMANAGER_REGISTER_ENABLED
for (auto p = registered_ports; p; p = p->next) {
if (protocol_match(protocol, (enum SerialProtocol)p->state.protocol.get())) {
if (found_instance == instance) {
return &p->state;
}
found_instance++;
}
}
#endif

// if we got this far we did not find the uart
return nullptr;
}
Expand All @@ -560,10 +573,23 @@ AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol,
if (_state == nullptr) {
return nullptr;
}
const uint8_t serial_idx = _state - &state[0];
const uint8_t serial_idx = _state->idx;

// set options before any user does begin()
AP_HAL::UARTDriver *port = hal.serial(serial_idx);

#if AP_SERIALMANAGER_REGISTER_ENABLED
if (port == nullptr) {
// look for a registered port
for (auto p = registered_ports; p; p = p->next) {
if (p->state.idx == serial_idx) {
port = p;
break;
}
}
}
#endif

if (port) {
port->set_options(_state->options);
}
Expand Down Expand Up @@ -595,7 +621,7 @@ int8_t AP_SerialManager::find_portnum(enum SerialProtocol protocol, uint8_t inst
if (_state == nullptr) {
return -1;
}
return int8_t(_state - &state[0]);
return int8_t(_state->idx);
}

// get_serial_by_id - gets serial by serial id
Expand All @@ -604,6 +630,13 @@ AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id)
if (id < SERIALMANAGER_NUM_PORTS) {
return hal.serial(id);
}
#if AP_SERIALMANAGER_REGISTER_ENABLED
for (auto p = registered_ports; p; p = p->next) {
if (p->state.idx == id) {
return (AP_HAL::UARTDriver *)p;
}
}
#endif
return nullptr;
}

Expand All @@ -619,6 +652,24 @@ void AP_SerialManager::set_blocking_writes_all(bool blocking)
}
}

/*
get a UARTState by index
*/
const AP_SerialManager::UARTState *AP_SerialManager::get_state_by_id(uint8_t id) const
{
if (id < SERIALMANAGER_NUM_PORTS) {
return &state[id];
}
#if AP_SERIALMANAGER_REGISTER_ENABLED
for (auto p = registered_ports; p; p = p->next) {
if (p->state.idx == id) {
return &p->state;
}
}
#endif
return nullptr;
}

/*
* map from a 16 bit EEPROM baud rate to a real baud rate. For
* stm32-based boards we can do 1.5MBit, although 921600 is more
Expand Down Expand Up @@ -694,18 +745,24 @@ void AP_SerialManager::set_options(uint16_t i)

// get the passthru ports if enabled
bool AP_SerialManager::get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s,
uint32_t &baud1, uint32_t &baud2) const
uint32_t &baud1, uint32_t &baud2)
{
if (passthru_port2 < 0 ||
passthru_port2 >= SERIALMANAGER_NUM_PORTS ||
passthru_port1 < 0 ||
passthru_port1 >= SERIALMANAGER_NUM_PORTS) {
passthru_port1 < 0) {
return false;
}
port1 = get_serial_by_id(passthru_port1);
port2 = get_serial_by_id(passthru_port2);
if (port1 == nullptr || port2 == nullptr) {
return false;
}
const auto *state1 = get_state_by_id(passthru_port1);
const auto *state2 = get_state_by_id(passthru_port2);
if (!state1 || !state2) {
return false;
}
port1 = hal.serial(passthru_port1);
port2 = hal.serial(passthru_port2);
baud1 = state[passthru_port1].baudrate();
baud2 = state[passthru_port2].baudrate();
baud1 = state1->baudrate();
baud2 = state2->baudrate();
timeout_s = MAX(passthru_timeout, 0);
return true;
}
Expand All @@ -725,6 +782,33 @@ void AP_SerialManager::set_protocol_and_baud(uint8_t sernum, enum SerialProtocol
}
}

#if AP_SERIALMANAGER_REGISTER_ENABLED
/*
register an external network port. It is up to the caller to use a unique id field
using AP_SERIALMANAGER_NET_PORT_1 as the base id for NET_P1_*
*/
void AP_SerialManager::register_port(RegisteredPort *port)
{
const auto idx = port->state.idx;
WITH_SEMAPHORE(port_sem);
/*
maintain the list in ID order
*/
if (registered_ports == nullptr ||
registered_ports->state.idx >= idx) {
port->next = registered_ports;
registered_ports = port;
return;
}
for (auto p = registered_ports; p; p = p->next) {
if (p->next == nullptr || p->next->state.idx >= idx) {
port->next = p->next;
p->next = port;
break;
}
}
}
#endif // AP_SERIALMANAGER_REGISTER_ENABLED

namespace AP {

Expand Down
40 changes: 38 additions & 2 deletions libraries/AP_SerialManager/AP_SerialManager.h
View file
Open in desktop
Expand Up @@ -115,6 +115,18 @@
#define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256
#define AP_SERIALMANAGER_MSP_BAUD 115200

#ifndef AP_SERIALMANAGER_REGISTER_ENABLED
#define AP_SERIALMANAGER_REGISTER_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS
#endif

// serial ports registered by AP_Networking will use IDs starting at 21 for the first port
#define AP_SERIALMANAGER_NET_PORT_1 21 // NET_P1_*

// serial ports registered by AP_DroneCAN will use IDs starting at 41/51 for the first port
#define AP_SERIALMANAGER_CAN_D1_PORT_1 41 // CAN_D1_UC_S1_*
#define AP_SERIALMANAGER_CAN_D2_PORT_1 51 // CAN_D2_UC_S1_*


class AP_SerialManager {
public:
AP_SerialManager();
Expand Down Expand Up @@ -205,7 +217,7 @@ class AP_SerialManager {

// get the passthru ports if enabled
bool get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s,
uint32_t &baud1, uint32_t &baud2) const;
uint32_t &baud1, uint32_t &baud2);

// disable passthru by settings SERIAL_PASS2 to -1
void disable_passthru(void);
Expand Down Expand Up @@ -235,12 +247,17 @@ class AP_SerialManager {
AP_SerialManager::SerialProtocol get_protocol() const {
return AP_SerialManager::SerialProtocol(protocol.get());
}
private:
AP_Int32 baud;
AP_Int16 options;
AP_Int8 protocol;

// serial index number
uint8_t idx;
};

// get a state from serial index
const UARTState *get_state_by_id(uint8_t id) const;

// search through managed serial connections looking for the
// instance-nth UART which is running protocol protocol.
// protocol_match is used to determine equivalence of one protocol
Expand All @@ -249,6 +266,25 @@ class AP_SerialManager {
const UARTState *find_protocol_instance(enum SerialProtocol protocol,
uint8_t instance) const;

#if AP_SERIALMANAGER_REGISTER_ENABLED
/*
a class for a externally registered port
used by AP_Networking
*/
class RegisteredPort : public AP_HAL::UARTDriver {
public:
RegisteredPort *next;
UARTState state;
};
RegisteredPort *registered_ports;
HAL_Semaphore port_sem;

// register an externally managed port
void register_port(RegisteredPort *port);

#endif // AP_SERIALMANAGER_REGISTER_ENABLED


private:
static AP_SerialManager *_singleton;

Expand Down