-
Notifications
You must be signed in to change notification settings - Fork 17.7k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
AP_Periph: move Network Passthrough to it's own file
- Loading branch information
Showing
3 changed files
with
142 additions
and
98 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,135 @@ | ||
| /* | ||
| 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/>. | ||
| */ | ||
|
|
||
| #include "AP_Periph.h" | ||
|
|
||
| #if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 | ||
|
|
||
| #include <AP_SerialManager/AP_SerialManager.h> | ||
|
|
||
| const AP_Param::GroupInfo Networking_Periph::Passthru::var_info[] = { | ||
| // @Param: ENABLE | ||
| // @DisplayName: Enable Passthrough | ||
| // @Description: Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports. | ||
| // @Values: 0:Disabled, 1:Enabled | ||
| // @RebootRequired: True | ||
| // @User: Advanced | ||
| AP_GROUPINFO_FLAGS("ENABLE", 1, Networking_Periph::Passthru, enabled, 0, AP_PARAM_FLAG_ENABLE), | ||
|
|
||
| // @Param: EP1 | ||
| // @DisplayName: Endpoint 1 | ||
| // @Description: Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2. | ||
| // @Values: -1:Disabled, 0:Serial0(usually USB), 1:Serial1, 2:Serial2, 3:Serial3, 4:Serial4, 5:Serial5, 6:Serial6, 7:Serial7, 8:Serial8, 9:Serial9, 21:Network Port1, 22:Network Port2, 23:Network Port3, 24:Network Port4, 25:Network Port5, 26:Network Port6, 27:Network Port7, 28:Network Port8, 29:Network Port9, 41:CAN1 Port1, 42:CAN1 Port2, 43:CAN1 Port3, 44:CAN1 Port4, 45:CAN1 Port5, 46:CAN1 Port6, 47:CAN1 Port7, 48:CAN1 Port8, 49:CAN1 Port9, 51:CAN2 Port1, 52:CAN2 Port2, 53:CAN2 Port3, 54:CAN2 Port4, 55:CAN2 Port5, 56:CAN2 Port6, 57:CAN2 Port7, 58:CAN2 Port8, 59:CAN2 Port9 | ||
| // @RebootRequired: True | ||
| // @User: Advanced | ||
| AP_GROUPINFO("EP1", 2, Networking_Periph::Passthru, ep1, -1), | ||
|
|
||
| // @Param: EP2 | ||
| // @DisplayName: Endpoint 2 | ||
| // @Description: Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1. | ||
| // @CopyFieldsFrom: NET_PASS1_EP1 | ||
| AP_GROUPINFO("EP2", 3, Networking_Periph::Passthru, ep2, -1), | ||
|
|
||
| // @Param: BAUD1 | ||
| // @DisplayName: Endpoint 1 Baud Rate | ||
| // @Description: The baud rate used for Endpoint 1. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_BAUD | ||
| AP_GROUPINFO("BAUD1", 4, Networking_Periph::Passthru, baud1, 115200), | ||
|
|
||
| // @Param: BAUD2 | ||
| // @DisplayName: Endpoint 2 Baud Rate | ||
| // @Description: The baud rate used for Endpoint 2. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_BAUD | ||
| AP_GROUPINFO("BAUD2", 5, Networking_Periph::Passthru, baud2, 115200), | ||
|
|
||
| // @Param: OPT1 | ||
| // @DisplayName: Serial Port Options EP1 | ||
| // @Description: Control over UART options for Endpoint 1. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_OPTIONS | ||
| AP_GROUPINFO("OPT1", 6, Networking_Periph::Passthru, options1, 0), | ||
|
|
||
| // @Param: OPT2 | ||
| // @DisplayName: Serial Port Options EP2 | ||
| // @Description: Control over UART options for Endpoint 2. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_OPTIONS | ||
| AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0), | ||
|
|
||
| AP_GROUPEND | ||
| }; | ||
|
|
||
| void Networking_Periph::Passthru::init() | ||
| { | ||
| if (enabled == 0) { | ||
| // Feature is disabled | ||
| return; | ||
| } | ||
|
|
||
| if (port1 != nullptr || port2 != nullptr) { | ||
| // Endpoints have already been initilized | ||
| return; | ||
| } | ||
|
|
||
| if (ep1 <= -1 || ep2 <= -1 || ep1 == ep2) { | ||
| // end points are not set or are the same. Can't route to self | ||
| return; | ||
| } | ||
|
|
||
| port1 = AP::serialmanager().get_serial_by_id(ep1); | ||
| port2 = AP::serialmanager().get_serial_by_id(ep2); | ||
|
|
||
| if (port1 != nullptr && port2 != nullptr) { | ||
| port1->set_options(options1); | ||
| port1->begin(baud1); | ||
|
|
||
| port2->set_options(options2); | ||
| port2->begin(baud2); | ||
| } | ||
| } | ||
|
|
||
| void Networking_Periph::Passthru::update() | ||
| { | ||
| if (enabled == 0 || port1 == nullptr || port2 == nullptr) { | ||
| return; | ||
| } | ||
|
|
||
| // Fastest possible connection is 3Mbps serial port, which is roughly 300KB/s payload and we service this at <= 1kHz | ||
| // Raising this any higher just causes excess stack usage which never gets used. | ||
| uint8_t buf[300]; | ||
|
|
||
| // read from port1, and write to port2 | ||
| auto avail = port1->available(); | ||
| if (avail > 0) { | ||
| auto space = port2->txspace(); | ||
| const uint32_t n = MIN(space, sizeof(buf)); | ||
| const auto nbytes = port1->read(buf, n); | ||
| if (nbytes > 0) { | ||
| port2->write(buf, nbytes); | ||
| } | ||
| } | ||
|
|
||
| // read from port2, and write to port1 | ||
| avail = port2->available(); | ||
| if (avail > 0) { | ||
| auto space = port1->txspace(); | ||
| const uint32_t n = MIN(space, sizeof(buf)); | ||
| const auto nbytes = port2->read(buf, n); | ||
| if (nbytes > 0) { | ||
| port1->write(buf, nbytes); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| #endif // HAL_PERIPH_ENABLE_NETWORKING | ||
|
|