ArduPilot之开源代码UARTs and the Console使用
ArduPilot之开源代码UARTs and the Console使用
- 1. 源由
- 2. UART定义
-
- 2.1 HAL_Empty
- 2.2 HAL_ChibiOS
- 2.3 HAL_ESP32
- 2.4 HAL_Linux
- 2.5 HAL_SITL
- 3. 配置参数
-
- 3.1 SERIALx_BAUD
- 3.2 SERIALx_PROTOCOL
- 3.3 SERIALx_OPTIONS
- 3.4 SERIAL_PASSx
- 3.5 SERIAL_PASSTIMO
- 4. UART常用函数
- 5. 示例代码
- 6. 参考资料
1. 源由
ArduPilot的外部传感器主要通过UART/CAN/I2C/SPI等方式接入系统。UART在调试输出、遥测、GPS模块等方面有着诸多应用。了解如何通过HAL与UART对话将有助于理解ArduPilot代码。
2. UART定义
HAL框架设计角度，ArduPilot支持1 + 9个UART端口，其中1个是USB转串口。
libraries/AP_HAL/HAL.cpp
// access serial ports using SERIALn numbering
AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
{
UARTDriver **uart_array = const_cast(&uartA);
// this mapping captures the historical use of uartB as SERIAL3
const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
static_assert(sizeof(mapping) == num_serial, "num_serial must match mapping");
if (sernum >= num_serial) {
return nullptr;
}
return uart_array[mapping[sernum]];
}
鉴于ArduPilot支持OS版本不同，或多或少有一些差异，UART可能存在不同的配置情况。
2.1 HAL_Empty
空定义，其实现都是空的，类似dummy/stub。后面可以看到有些OS上会有一些空定义的串口。
libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
static UARTDriver uartADriver;
static UARTDriver uartBDriver;
static UARTDriver uartCDriver;
2.2 HAL_ChibiOS
支持10个UART。
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
#ifndef HAL_NO_UARTDRIVER
static HAL_UARTA_DRIVER;
static HAL_UARTB_DRIVER;
static HAL_UARTC_DRIVER;
static HAL_UARTD_DRIVER;
static HAL_UARTE_DRIVER;
static HAL_UARTF_DRIVER;
static HAL_UARTG_DRIVER;
static HAL_UARTH_DRIVER;
static HAL_UARTI_DRIVER;
static HAL_UARTJ_DRIVER;
#else
static Empty::UARTDriver uartADriver;
static Empty::UARTDriver uartBDriver;
static Empty::UARTDriver uartCDriver;
static Empty::UARTDriver uartDDriver;
static Empty::UARTDriver uartEDriver;
static Empty::UARTDriver uartFDriver;
static Empty::UARTDriver uartGDriver;
static Empty::UARTDriver uartHDriver;
static Empty::UARTDriver uartIDriver;
static Empty::UARTDriver uartJDriver;
#endif
2.3 HAL_ESP32
支持3个UART，uartB用于TCP通信，uartC用于UDP通信，uartD正常硬件串口。
libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
static Empty::UARTDriver uartADriver;
static ESP32::UARTDriver cons(0);
static ESP32::UARTDriver uartBDriver(1);
#ifdef HAL_ESP32_WIFI
#if HAL_ESP32_WIFI == 1
static ESP32::WiFiDriver uartCDriver; //tcp, client should connect to 192.168.4.1 port 5760
#elif HAL_ESP32_WIFI == 2
static ESP32::WiFiUdpDriver uartCDriver; //udp
#endif
#else
static Empty::UARTDriver uartCDriver;
#endif
static ESP32::UARTDriver uartDDriver(2);
static Empty::UARTDriver uartEDriver;
static Empty::UARTDriver uartFDriver;
static Empty::UARTDriver uartGDriver;
static Empty::UARTDriver uartHDriver;
static Empty::UARTDriver uartIDriver;
static Empty::UARTDriver uartJDriver;
2.4 HAL_Linux
支持10个UART，其中第0个uartA定义为Console。
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
static UARTDriver uartADriver(true);
static UARTDriver uartCDriver(false);
static UARTDriver uartDDriver(false);
static UARTDriver uartEDriver(false);
static UARTDriver uartFDriver(false);
static UARTDriver uartGDriver(false);
static UARTDriver uartHDriver(false);
static UARTDriver uartIDriver(false);
static UARTDriver uartJDriver(false);
2.5 HAL_SITL
支持10个UART。
https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
static UARTDriver sitlUart0Driver(0, &sitlState);
static UARTDriver sitlUart1Driver(1, &sitlState);
static UARTDriver sitlUart2Driver(2, &sitlState);
static UARTDriver sitlUart3Driver(3, &sitlState);
static UARTDriver sitlUart4Driver(4, &sitlState);
static UARTDriver sitlUart5Driver(5, &sitlState);
static UARTDriver sitlUart6Driver(6, &sitlState);
static UARTDriver sitlUart7Driver(7, &sitlState);
static UARTDriver sitlUart8Driver(8, &sitlState);
static UARTDriver sitlUart9Driver(9, &sitlState);
SITL mapping
| ParamPrefix | Sim_vehicle Cmd Line | Def Role Default | Connection |
|---|---|---|---|
| SERIAL0_ | - -uartA= or - -serial0= | Console | tcp:localhost:5760:wait |
| SERIAL1_ | - -uartB= or - -serial1= | MAVLink | tcp:localhost:5762 |
| SERIAL2_ | - -uartC= or - -serial2= | MAVLink | tcp:localhost:5763 |
| SERIAL3_ | - -uartD= or - -serial3= | GPS | Simulated GPS |
| SERIAL4_ | - -uartE= or - -serial4= | GPS | Simulated GPS |
| SERIAL5_ | - -uartF= or - -serial5= | ||
| SERIAL6_ | - -uartG= or - -serial6= | ||
| SERIAL7_ | - -uartH= or - -serial7= | ||
| SERIAL8_ | - -uartI= or - -serial8= | ||
| SERIAL9_ | - -uartJ= or - -serial9= |
参考命令
# sim_vehicle.py --console --map -A --serial5=uart:/dev/ttyS15:115200
3. 配置参数
3.1 SERIALx_BAUD
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
| 2000 | 2000000 |
3.2 SERIALx_PROTOCOL
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | EFI Serial |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire VTX |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
| 37 | SmartAudio |
| 38 | FETtecOneWire |
| 39 | Torqeedo |
| 40 | AIS |
| 41 | CoDevESC |
| 42 | DisplayPort |
| 43 | MAVLink High Latency |
| 44 | IRC Tramp |
3.3 SERIALx_OPTIONS
| Value | Meaning |
|---|---|
| bit0 | InvertRX |
| bit1 | InvertTX |
| bit2 | HalfDuplex |
| bit3 | Swap |
| bit4 | RX_PullDown |
| bit5 | RX_PullUp |
| bit6 | TX_PullDown |
| bit7 | TX_PullUp |
| bit8 | RX_NoDMA |
| bit9 | TX_NoDMA |
| bit10 | Don’t forward mavlink to/from |
| bit11 | DisableFIFO |
| bit12 | Ignore Streamrate |
3.4 SERIAL_PASSx
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
3.5 SERIAL_PASSTIMO
| Range | Units |
|---|---|
| 0 to 120 | seconds |
4. UART常用函数
- printf - formatted print
- printf_P - formatted print with progmem string (saves memory on AVR boards)
- println - print and line feed
- write - write a bunch of bytes
- read - read some bytes
- available - check if any bytes are waiting
- txspace - check how much outgoing buffer space is available
- get_flow_control - check if the UART has flow control capabilities
5. 示例代码
libraries/AP_HAL/examples/UART_test 它向前5个UART打印一条问候信息。
可以在测试飞控板上试试，看看是否可以使用USB串行适配器显示所有输出，以及调整波特率。
/*
simple test of UART interfaces
*/
#include
#if HAL_OS_POSIX_IO
#include
#endif
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
/*
setup one UART at 57600
*/
static void setup_uart(AP_HAL::UARTDriver *uart, const char *name)
{
if (uart == nullptr) {
// that UART doesn't exist on this platform
return;
}
uart->begin(57600);
}
void setup(void)
{
/*
start all UARTs at 57600 with default buffer sizes
*/
hal.scheduler->delay(1000); //Ensure that the uartA can be initialized
setup_uart(hal.serial(0), "SERIAL0"); // console
setup_uart(hal.serial(1), "SERIAL1"); // telemetry 1
setup_uart(hal.serial(2), "SERIAL2"); // telemetry 2
setup_uart(hal.serial(3), "SERIAL3"); // 1st GPS
setup_uart(hal.serial(4), "SERIAL4"); // 2nd GPS
}
static void test_uart(AP_HAL::UARTDriver *uart, const char *name)
{
if (uart == nullptr) {
// that UART doesn't exist on this platform
return;
}
uart->printf("Hello on UART %s at %.3f seconds\n",
name, (double)(AP_HAL::millis() * 0.001f));
}
void loop(void)
{
test_uart(hal.serial(0), "SERIAL0");
test_uart(hal.serial(1), "SERIAL1");
test_uart(hal.serial(2), "SERIAL2");
test_uart(hal.serial(3), "SERIAL3");
test_uart(hal.serial(4), "SERIAL4");
// also do a raw printf() on some platforms, which prints to the
// debug console
#if HAL_OS_POSIX_IO
::printf("Hello on debug console at %.3f seconds\n", (double)(AP_HAL::millis() * 0.001f));
#endif
hal.scheduler->delay(1000);
}
AP_HAL_MAIN();
6. 参考资料
【1】ArduPilot开源飞控系统之简单介绍
【2】ArduPilot之开源代码框架
【3】ArduPilot飞控之ubuntu22.04-SITL安装
【4】ArduPilot飞控之ubuntu22.04-Gazebo模拟
【5】ArduPilot飞控之Mission Planner模拟
【6】ArduPilot飞控AOCODARC-H7DUAL固件编译
【7】ArduPilot之开源代码Library&Sketches设计
【8】ArduPilot之开源代码Sensor Drivers设计
【9】ArduPilot之开源代码基础知识&Threading概念