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AP_SerialManager: added AP_SerialManager_config.h
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| /* | ||
| Please contribute your ideas! See https://ardupilot.org/dev for details | ||
| 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/>. | ||
| */ | ||
| /* | ||
| SerialManager configuration defines | ||
| */ | ||
| #pragma once | ||
|
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| #include <AP_HAL/AP_HAL.h> | ||
| #include <AP_Networking/AP_Networking_Config.h> | ||
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| #ifdef HAL_UART_NUM_SERIAL_PORTS | ||
| #if HAL_UART_NUM_SERIAL_PORTS >= 4 | ||
| #define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS | ||
| #else | ||
| // we need a minimum of 4 to allow for a GPS due to the odd ordering | ||
| // of hal.uartB as SERIAL3 | ||
| #define SERIALMANAGER_NUM_PORTS 4 | ||
| #endif | ||
| #else | ||
| // assume max 8 ports | ||
| #define SERIALMANAGER_NUM_PORTS 8 | ||
| #endif | ||
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| #ifndef HAL_NUM_SERIAL_PORTS | ||
| #define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS | ||
| #endif | ||
|
|
||
| /* | ||
| array size for state[]. This needs to be at least | ||
| SERIALMANAGER_NUM_PORTS, but we want it to be the same length on | ||
| similar boards to get the ccache efficiency up. This wastes a small | ||
| amount of memory, but makes a huge difference to the build times | ||
| */ | ||
| #if SERIALMANAGER_NUM_PORTS > 10 || SERIALMANAGER_NUM_PORTS < 5 | ||
| #define SERIALMANAGER_MAX_PORTS SERIALMANAGER_NUM_PORTS | ||
| #else | ||
| #define SERIALMANAGER_MAX_PORTS 10 | ||
| #endif | ||
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| #ifndef AP_SERIALMANAGER_REGISTER_ENABLED | ||
| #define AP_SERIALMANAGER_REGISTER_ENABLED AP_NETWORKING_ENABLED | ||
| #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_* | ||
|
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| // 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_* | ||
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| // console default baud rates and buffer sizes | ||
| #ifdef DEFAULT_SERIAL0_BAUD | ||
| #define AP_SERIALMANAGER_CONSOLE_BAUD DEFAULT_SERIAL0_BAUD | ||
| #else | ||
| #define AP_SERIALMANAGER_CONSOLE_BAUD 115200 | ||
| #endif | ||
| #define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX 512 | ||
|
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| // mavlink default baud rates and buffer sizes | ||
| #define AP_SERIALMANAGER_MAVLINK_BAUD 57600 | ||
| #define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX 256 | ||
|
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||
| // LTM buffer sizes | ||
| #define AP_SERIALMANAGER_LTM_BUFSIZE_RX 0 | ||
| #define AP_SERIALMANAGER_LTM_BUFSIZE_TX 32 | ||
|
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||
| // FrSky default baud rates, use default buffer sizes | ||
| #define AP_SERIALMANAGER_FRSKY_D_BAUD 9600 | ||
| #define AP_SERIALMANAGER_FRSKY_SPORT_BAUD 57600 | ||
| #define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX 0 | ||
| #define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX 0 | ||
|
|
||
| // GPS default baud rates and buffer sizes | ||
| // we need a 256 byte buffer for some GPS types (eg. UBLOX) | ||
| #define AP_SERIALMANAGER_GPS_BAUD 38400 | ||
| #define AP_SERIALMANAGER_GPS_BUFSIZE_RX 256 | ||
| #define AP_SERIALMANAGER_GPS_BUFSIZE_TX 16 | ||
|
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||
| // AlexMos Gimbal protocol default baud rates and buffer sizes | ||
| #define AP_SERIALMANAGER_ALEXMOS_BAUD 115200 | ||
| #define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX 128 | ||
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| #define AP_SERIALMANAGER_GIMBAL_BAUD 115200 | ||
| #define AP_SERIALMANAGER_GIMBAL_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_GIMBAL_BUFSIZE_TX 128 | ||
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| #define AP_SERIALMANAGER_VOLZ_BAUD 115 | ||
| #define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128 | ||
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||
| #define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX 128 | ||
|
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||
| // MegaSquirt EFI protocol | ||
| #define AP_SERIALMANAGER_EFI_MS_BAUD 115 | ||
| #define AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX 512 | ||
| #define AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX 16 | ||
|
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||
| // SBUS servo outputs | ||
| #define AP_SERIALMANAGER_SBUS1_BAUD 100000 | ||
| #define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX 16 | ||
| #define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX 32 | ||
|
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||
| #define AP_SERIALMANAGER_SLCAN_BAUD 115200 | ||
| #define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX 128 | ||
|
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| // MSP protocol default buffer sizes | ||
| #define AP_SERIALMANAGER_MSP_BUFSIZE_RX 128 | ||
| #define AP_SERIALMANAGER_MSP_BUFSIZE_TX 256 | ||
| #define AP_SERIALMANAGER_MSP_BAUD 115200 |