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https://github.com/betaflight/betaflight.git
synced 2025-07-15 04:15:44 +03:00
Refactor serial port configuration, stage 1.
Tested and working: * multiple MSP ports at different baud rates. * cli on any MSP port. * GPS * gps passthough on currently active cli port. Example config used for testing: feature SOFTSERIAL feature GPS feature RX_PPM serial_port_1_functions = 1 serial_port_1_baudrate = 115200 serial_port_2_functions = 128 serial_port_2_baudrate = 115200 serial_port_3_functions = 1 serial_port_3_baudrate = 19200 serial_port_4_functions = 0 serial_port_4_baudrate = 0 Known broken: * Telemetry and shared serial ports * Telemetry when unarmed. Probably broken: * Blackbox on shared port. Untested. * Serial RX. * Blackbox.
This commit is contained in:
Dominic Clifton
parent
519cc5f238
commit
5163bef0b2
31 changed files with 459 additions and 1247 deletions
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@ -83,6 +83,8 @@
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extern uint16_t cycleTime; // FIXME dependency on mw.c
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void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort);
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static serialPort_t *cliPort;
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static void cliAux(char *cmdline);
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@ -252,32 +254,33 @@ const clivalue_t valueTable[] = {
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{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, -1, 1 },
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{ "serial_port_1_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[0], 0, SERIAL_PORT_SCENARIO_MAX },
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{ "serial_port_2_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[1], 0, SERIAL_PORT_SCENARIO_MAX },
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#if (SERIAL_PORT_COUNT > 2)
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{ "serial_port_3_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[2], 0, SERIAL_PORT_SCENARIO_MAX },
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#if (SERIAL_PORT_COUNT > 3)
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{ "serial_port_4_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[3], 0, SERIAL_PORT_SCENARIO_MAX },
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#if (SERIAL_PORT_COUNT > 4)
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{ "serial_port_5_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[4], 0, SERIAL_PORT_SCENARIO_MAX },
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{ "serial_port_1_functions", VAR_UINT16 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[0].functionMask, 0, 0xFFFF },
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{ "serial_port_1_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[0].baudrate, 1200, 115200 },
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#if (SERIAL_PORT_COUNT >= 2)
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{ "serial_port_2_functions", VAR_UINT16 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[1].functionMask, 0, 0xFFFF },
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{ "serial_port_2_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[1].baudrate, 1200, 115200 },
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#if (SERIAL_PORT_COUNT >= 3)
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{ "serial_port_3_functions", VAR_UINT16 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[2].functionMask, 0, 0xFFFF},
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{ "serial_port_3_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[2].baudrate, 1200, 115200 },
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#if (SERIAL_PORT_COUNT >= 4)
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{ "serial_port_4_functions", VAR_UINT16 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[3].functionMask, 0, 0xFFFF },
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{ "serial_port_4_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[3].baudrate, 1200, 115200 },
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#if (SERIAL_PORT_COUNT >= 5)
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{ "serial_port_5_functions", VAR_UINT16 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[4].functionMask, 0, 0xFFFF },
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{ "serial_port_5_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.portConfigs[4].baudrate, 1200, 115200 },
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#endif
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#endif
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#endif
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#endif
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{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.reboot_character, 48, 126 },
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{ "msp_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.msp_baudrate, 1200, 115200 },
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{ "cli_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.cli_baudrate, 1200, 115200 },
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#ifdef GPS
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{ "gps_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.gps_baudrate, 0, 115200 },
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{ "gps_passthrough_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.gps_passthrough_baudrate, 1200, 115200 },
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{ "gps_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.provider, 0, GPS_PROVIDER_MAX },
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{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.sbasMode, 0, SBAS_MODE_MAX },
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{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.autoConfig, GPS_AUTOCONFIG_OFF, GPS_AUTOCONFIG_ON },
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{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.autoBaud, GPS_AUTOBAUD_OFF, GPS_AUTOBAUD_ON },
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{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], 0, 200 },
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{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], 0, 200 },
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{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], 0, 200 },
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@ -297,7 +300,6 @@ const clivalue_t valueTable[] = {
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{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX },
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{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX},
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{ "telemetry_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
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{ "telemetry_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_switch, 0, 1 },
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{ "telemetry_inversion", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_inversion, 0, 1 },
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{ "frsky_default_lattitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLatitude, -90.0, 90.0 },
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@ -891,10 +893,10 @@ static void cliDump(char *cmdline)
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}
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}
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static void cliEnter(void)
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void cliEnter(serialPort_t *serialPort)
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{
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cliMode = 1;
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beginSerialPortFunction(cliPort, FUNCTION_CLI);
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cliPort = serialPort;
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setPrintfSerialPort(cliPort);
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cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
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cliPrompt();
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@ -903,6 +905,7 @@ static void cliEnter(void)
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static void cliExit(char *cmdline)
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{
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UNUSED(cmdline);
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cliPrint("\r\nLeaving CLI mode, unsaved changes lost.\r\n");
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*cliBuffer = '\0';
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bufferIndex = 0;
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@ -910,6 +913,8 @@ static void cliExit(char *cmdline)
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// incase a motor was left running during motortest, clear it here
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mixerResetMotors();
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cliReboot();
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cliPort = NULL;
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}
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static void cliFeature(char *cmdline)
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@ -988,16 +993,7 @@ static void cliGpsPassthrough(char *cmdline)
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{
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UNUSED(cmdline);
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gpsEnablePassthroughResult_e result = gpsEnablePassthrough();
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switch (result) {
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case GPS_PASSTHROUGH_NO_SERIAL_PORT:
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cliPrint("Error: Enable and plug in GPS first\r\n");
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break;
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default:
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break;
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}
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gpsEnablePassthrough(cliPort);
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}
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#endif
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@ -1402,10 +1398,10 @@ static void cliVersion(char *cmdline)
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);
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}
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void cliProcess(void)
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void cliProcess()
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{
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if (!cliMode) {
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cliEnter();
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if (!cliPort) {
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return;
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}
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while (serialTotalBytesWaiting(cliPort)) {
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@ -1496,9 +1492,5 @@ void cliProcess(void)
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void cliInit(serialConfig_t *serialConfig)
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{
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cliPort = findOpenSerialPort(FUNCTION_CLI);
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if (!cliPort) {
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cliPort = openSerialPort(FUNCTION_CLI, NULL, serialConfig->cli_baudrate, MODE_RXTX, SERIAL_NOT_INVERTED);
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}
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UNUSED(serialConfig);
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}
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