AP_DroneCAN: support CAN serial ports

this allows any serial protocol to be mapped to a remote DroneCAN node
tridge · Nov 18, 2023 · de8ced1 · de8ced1
1 parent 7f55b94
commit de8ced1
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Showing 4 changed files with 425 additions and 1 deletion.
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -51,6 +51,10 @@
 #include <AP_Mount/AP_Mount_Xacti.h>
 #include <string.h>
 
+#if AP_DRONECAN_SERIAL_ENABLED
+#include "AP_DroneCAN_serial.h"
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 // setup default pool size
@@ -148,7 +152,105 @@ const AP_Param::GroupInfo AP_DroneCAN::var_info[] = {
     // @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32
     // @User: Advanced
     AP_GROUPINFO("ESC_RV", 9, AP_DroneCAN, _esc_rv, 0),
-
+
+#if AP_DRONECAN_SERIAL_ENABLED
+    /*
+      due to the parameter tree depth limitation we can't use a sub-table for the serial parameters
+     */
+
+    // @Param: SER_EN
+    // @DisplayName: Serial enable
+    // @Description: Enable DroneCAN virtual serial ports
+    // @Values: 0:Disabled, 1:Enabled
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO_FLAGS("SER_EN", 10,  AP_DroneCAN, serial.enable, 0, AP_PARAM_FLAG_ENABLE),
+
+    // @Param: S1_NOD
+    // @DisplayName: Serial CAN node number
+    // @Description: CAN node number for serial port
+    // @Range: 0 127
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("S1_NOD", 11,  AP_DroneCAN, serial.ports[0].node, 0),
+
+    // @Param: S1_IDX
+    // @DisplayName: Serial1 index
+    // @Description: Serial port number on remote CAN node
+    // @Range: 0 100
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("S1_IDX", 12,  AP_DroneCAN, serial.ports[0].idx, 0),
+
+    // @Param: S1_BD
+    // @DisplayName: Serial default baud rate
+    // @Description: Serial baud rate on remote CAN node
+    // @CopyFieldsFrom: SERIAL0_BAUD
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("S1_BD", 13,  AP_DroneCAN, serial.ports[0].state.baud, 57600),
+
+    // @Param: S1_PRO
+    // @DisplayName: Serial protocol
+    // @Description: Serial protocol
+    // @CopyFieldsFrom: SERIAL0_PROTOCOL
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("S1_PRO", 14,  AP_DroneCAN, serial.ports[0].state.protocol, -1),
+
+#if AP_DRONECAN_SERIAL_NUM_PORTS > 1
+    // @Param: S2_NOD
+    // @DisplayName: S2_NOD
+    // @Description: CAN node number for serial port
+    // @CopyFieldsFrom: CAN_D1_UC_S1_NOD
+    AP_GROUPINFO("S2_NOD", 15,  AP_DroneCAN, serial.ports[1].node, 0),
+
+    // @Param: S2_IDX
+    // @DisplayName: S2_IDX
+    // @Description: Serial port number on remote CAN node
+    // @CopyFieldsFrom: CAN_D1_UC_S1_IDX
+    AP_GROUPINFO("S2_IDX", 16,  AP_DroneCAN, serial.ports[1].idx, 0),
+
+    // @Param: S2_BD
+    // @DisplayName: S2_BD
+    // @Description: Serial baud rate on remote CAN node
+    // @CopyFieldsFrom: CAN_D1_UC_S1_BD
+    AP_GROUPINFO("S2_BD", 17,  AP_DroneCAN, serial.ports[1].state.baud, 57600),
+
+    // @Param: S2_PRO
+    // @DisplayName: S2_PRO
+    // @Description: Serial protocol
+    // @CopyFieldsFrom: CAN_D1_UC_S1_PRO
+    AP_GROUPINFO("S2_PRO", 18,  AP_DroneCAN, serial.ports[1].state.protocol, -1),
+#endif
+
+#if AP_DRONECAN_SERIAL_NUM_PORTS > 2
+    // @Param: S3_NOD
+    // @DisplayName: S3_NOD
+    // @Description: CAN node number for serial port
+    // @CopyFieldsFrom: CAN_D1_UC_S1_NOD
+    AP_GROUPINFO("S3_NOD", 19,  AP_DroneCAN, serial.ports[2].node, 0),
+
+    // @Param: S3_IDX
+    // @DisplayName: S3_IDX
+    // @Description: Serial port number on remote CAN node
+    // @CopyFieldsFrom: CAN_D1_UC_S1_IDX
+    AP_GROUPINFO("S3_IDX", 20,  AP_DroneCAN, serial.ports[2].idx, 0),
+
+    // @Param: S3_BD
+    // @DisplayName: S3_BD
+    // @Description: Serial baud rate on remote CAN node
+    // @CopyFieldsFrom: CAN_D1_UC_S1_BD
+    AP_GROUPINFO("S3_BD", 21,  AP_DroneCAN, serial.ports[2].state.baud, 57600),
+
+    // @Param: S3_PRO
+    // @DisplayName: S3_PRO
+    // @Description: Serial protocol
+    // @CopyFieldsFrom: CAN_D1_UC_S1_PRO
+    AP_GROUPINFO("S3_PRO", 22,  AP_DroneCAN, serial.ports[2].state.protocol, -1),
+#endif
+#endif // AP_DRONECAN_SERIAL_ENABLED
+
     AP_GROUPEND
 };
 
@@ -369,6 +471,10 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
         return;
     }
 
+#if AP_DRONECAN_SERIAL_ENABLED
+    serial.init(this);
+#endif
+
     _initialized = true;
     debug_dronecan(AP_CANManager::LOG_INFO, "DroneCAN: init done\n\r");
 }
@@ -421,6 +527,10 @@ void AP_DroneCAN::loop(void)
                 }
             }
         }
+
+#if AP_DRONECAN_SERIAL_ENABLED
+        serial.update();
+#endif
     }
 }
 

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h
@@ -34,6 +34,7 @@
 #include "AP_DroneCAN_DNA_Server.h"
 #include <canard.h>
 #include <dronecan_msgs.h>
+#include <AP_SerialManager/AP_SerialManager_config.h>
 
 #ifndef DRONECAN_SRV_NUMBER
 #define DRONECAN_SRV_NUMBER NUM_SERVO_CHANNELS
@@ -58,6 +59,14 @@
 #define AP_DRONECAN_HIMARK_SERVO_SUPPORT (BOARD_FLASH_SIZE>1024)
 #endif
 
+#ifndef AP_DRONECAN_SERIAL_ENABLED
+#define AP_DRONECAN_SERIAL_ENABLED AP_SERIALMANAGER_REGISTER_ENABLED && (BOARD_FLASH_SIZE>1024)
+#endif
+
+#if AP_DRONECAN_SERIAL_ENABLED
+#include "AP_DroneCAN_serial.h"
+#endif
+
 // fwd-declare callback classes
 class AP_DroneCAN_DNA_Server;
 
@@ -258,6 +267,10 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
 
     CanardInterface canard_iface;
 
+#if AP_DRONECAN_SERIAL_ENABLED
+    AP_DroneCAN_Serial serial;
+#endif
+
     Canard::Publisher<uavcan_protocol_NodeStatus> node_status{canard_iface};
     Canard::Publisher<dronecan_protocol_CanStats> can_stats{canard_iface};
     Canard::Publisher<dronecan_protocol_Stats> protocol_stats{canard_iface};