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AP_HAL: clean up UART driver storage/access and legacy ordering #25589

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merged 28 commits into from
Dec 18, 2023
Merged

AP_HAL: clean up UART driver storage/access and legacy ordering #25589

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3835b17
AP_HAL: use array of UART drivers instead of consecutive variables
tpwrules Nov 15, 2023
fe816cb
AP_HAL: move serial re-mapping to driver array initialization
tpwrules Nov 21, 2023
dbb32ff
AP_HAL: inline serial accessor function
tpwrules Nov 21, 2023
c0f2e03
AP_HAL: constructor now accepts UARTs in SERIALn order
tpwrules Dec 10, 2023
651bca6
AP_HAL: remove references to legacy UART order
tpwrules Dec 11, 2023
53e5893
AP_HAL_ChibiOS: pass UARTs to AP_HAL in SERIALn order
tpwrules Dec 10, 2023
a4571db
AP_HAL_Empty: pass UARTs to AP_HAL in SERIALn order
tpwrules Dec 10, 2023
32155f5
AP_HAL_ESP32: pass UARTs to AP_HAL in SERIALn order
tpwrules Dec 10, 2023
b62d197
AP_HAL_Linux: pass UARTs to AP_HAL in SERIALn order
tpwrules Dec 10, 2023
82bc8fc
AP_HAL_SITL: pass UARTs to AP_HAL in SERIALn order
tpwrules Dec 10, 2023
31f2cca
AP_HAL_ChibiOS: eliminate legacy UART ordering/references
tpwrules Dec 11, 2023
00ead24
AP_HAL_ChibiOS: remove references to legacy UART order from hwdefs
tpwrules Dec 11, 2023
8410432
AP_HAL_Empty: eliminate legacy UART ordering/references
tpwrules Dec 10, 2023
3a0f527
AP_HAL_ESP32: eliminate legacy UART ordering/references
tpwrules Dec 10, 2023
e70abad
AP_HAL_Linux: eliminate internal legacy UART ordering/references
tpwrules Dec 11, 2023
e22d651
AP_HAL_SITL: eliminate internal legacy UART ordering/references
tpwrules Dec 11, 2023
c136da1
SITL: remove references to legacy UART order incl. sim arguments
tpwrules Dec 11, 2023
13eecc2
Tools: remove references to legacy UART order
tpwrules Dec 11, 2023
4c42442
Tracker: remove references to legacy UART order
tpwrules Dec 11, 2023
087219d
Plane: remove references to legacy UART order
tpwrules Dec 11, 2023
2d7dea9
Rover: remove references to legacy UART order
tpwrules Dec 11, 2023
87a98e3
GCS_MAVLink: correct comment about stream array
tpwrules Dec 11, 2023
6d48866
AP_Scripting: remove references to legacy UART order
tpwrules Dec 11, 2023
aac2222
AP_DDS: remove references to legacy UART order
tpwrules Dec 11, 2023
080140f
AP_FETtecOneWire: remove references to legacy UART order
tpwrules Dec 11, 2023
bb5193c
AP_SerialManager: clarify comment regarding legacy UART order
tpwrules Dec 11, 2023
d78aa8b
AP_HAL_SITL: deprecate and warn on legacy --uartX option use
tpwrules Dec 12, 2023
037e00c
AP_HAL_Linux: deprecate and warn on legacy --uartX option use
tpwrules Dec 12, 2023
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6 changes: 3 additions & 3 deletions AntennaTracker/Parameters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,8 @@ class Parameters {
k_param_format_version = 0,
k_param_software_type, // deprecated

k_param_gcs0 = 100, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_gcs0 = 100, // stream rates for SERIAL0
k_param_gcs1, // stream rates for SERIAL1
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud, // deprecated
Expand All @@ -60,7 +60,7 @@ class Parameters {
k_param_sitl,
k_param_pidPitch_old, // deprecated
k_param_pidYaw_old, // deprecated
k_param_gcs2, // stream rates for uartD
k_param_gcs2, // stream rates for SERIAL2
k_param_serial2_baud, // deprecated

k_param_yaw_slew_time,
Expand Down
6 changes: 3 additions & 3 deletions ArduPlane/Parameters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -159,14 +159,14 @@ class Parameters {

// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_gcs0 = 110, // stream rates for SERIAL0
k_param_gcs1, // stream rates for SERIAL1
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial1_baud_old, // deprecated
k_param_telem_delay,
k_param_serial0_baud_old, // deprecated
k_param_gcs2, // stream rates for uartD
k_param_gcs2, // stream rates for SERIAL2
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol, // deprecated

Expand Down
6 changes: 3 additions & 3 deletions Rover/Parameters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -79,15 +79,15 @@ class Parameters {

// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_gcs0 = 110, // stream rates for SERIAL0
k_param_gcs1, // stream rates for SERIAL1
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud_old, // unused
k_param_serial1_baud_old, // unused
k_param_telem_delay,
k_param_skip_gyro_cal, // unused
k_param_gcs2, // stream rates for uartD
k_param_gcs2, // stream rates for SERIAL2
k_param_serial2_baud_old, // unused
k_param_serial2_protocol, // deprecated, can be deleted
k_param_serial_manager, // serial manager library
Expand Down
29 changes: 14 additions & 15 deletions Tools/autotest/arducopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3052,7 +3052,7 @@ def VisionPosition(self):
"""Disable GPS navigation, enable Vicon input."""
# scribble down a location we can set origin to:

self.customise_SITL_commandline(["--uartF=sim:vicon:"])
self.customise_SITL_commandline(["--serial5=sim:vicon:"])
self.progress("Waiting for location")
self.change_mode('LOITER')
self.wait_ready_to_arm()
Expand Down Expand Up @@ -3153,7 +3153,7 @@ def BodyFrameOdom(self):
# only tested on this EKF
return

self.customise_SITL_commandline(["--uartF=sim:vicon:"])
self.customise_SITL_commandline(["--serial5=sim:vicon:"])

if self.current_onboard_log_contains_message("XKFD"):
raise NotAchievedException("Found unexpected XKFD message")
Expand Down Expand Up @@ -3293,7 +3293,7 @@ def InvalidJumpTags(self):

def GPSViconSwitching(self):
"""Fly GPS and Vicon switching test"""
self.customise_SITL_commandline(["--uartF=sim:vicon:"])
self.customise_SITL_commandline(["--serial5=sim:vicon:"])

"""Setup parameters including switching to EKF3"""
self.context_push()
Expand Down Expand Up @@ -7193,7 +7193,7 @@ def ProximitySensors(self):
self.start_subtest("Testing %s" % name)
self.set_parameter("PRX1_TYPE", prx_type)
self.customise_SITL_commandline([
"--uartF=sim:%s:" % name,
"--serial5=sim:%s:" % name,
"--home", home_string,
])
self.wait_ready_to_arm()
Expand Down Expand Up @@ -7630,7 +7630,7 @@ def RichenPower(self):
})
self.reboot_sitl()
self.set_rc(9, 1000) # remember this is a switch position - stop
self.customise_SITL_commandline(["--uartF=sim:richenpower"])
self.customise_SITL_commandline(["--serial5=sim:richenpower"])
self.wait_statustext("requested state is not RUN", timeout=60)

self.set_message_rate_hz("GENERATOR_STATUS", 10)
Expand Down Expand Up @@ -7697,7 +7697,7 @@ def run_IE24(self, proto_ver):
"LOG_DISARMED": 1,
})

self.customise_SITL_commandline(["--uartF=sim:ie24"])
self.customise_SITL_commandline(["--serial5=sim:ie24"])

self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for electrical generator message looks right" % proto_ver)
self.start_subsubtest("Protocol %i: Checking original voltage (electrical)" % proto_ver)
Expand Down Expand Up @@ -8182,7 +8182,7 @@ def fly_rangefinder_mavlink(self):
"SERIAL5_PROTOCOL": 1,
"RNGFND1_TYPE": 10,
})
self.customise_SITL_commandline(['--uartF=sim:rf_mavlink'])
self.customise_SITL_commandline(['--serial5=sim:rf_mavlink'])

self.change_mode('GUIDED')
self.wait_ready_to_arm()
Expand Down Expand Up @@ -8329,17 +8329,16 @@ def RangeFinderDrivers(self):
drivers = drivers[3:]
command_line_args = []
self.context_push()
for (offs, cmdline_argument, serial_num) in [(0, '--uartE', 4),
(1, '--uartF', 5),
(2, '--uartG', 6)]:
for offs in range(3):
serial_num = offs + 4
if len(do_drivers) > offs:
if len(do_drivers[offs]) > 2:
(sim_name, rngfnd_param_value, kwargs) = do_drivers[offs]
else:
(sim_name, rngfnd_param_value) = do_drivers[offs]
kwargs = {}
command_line_args.append("%s=sim:%s" %
(cmdline_argument, sim_name))
command_line_args.append("--serial%s=sim:%s" %
(serial_num, sim_name))
sets = {
"SERIAL%u_PROTOCOL" % serial_num: 9, # rangefinder
"RNGFND%u_TYPE" % (offs+1): rngfnd_param_value,
Expand Down Expand Up @@ -8380,7 +8379,7 @@ def RangeFinderDriversMaxAlt(self):
"WPNAV_SPEED_UP": 1000, # cm/s
})
self.customise_SITL_commandline([
"--uartE=sim:lightwareserial",
"--serial4=sim:lightwareserial",
])
self.takeoff(95, mode='GUIDED', timeout=240, max_err=0.5)
self.assert_rangefinder_distance_between(90, 100)
Expand Down Expand Up @@ -9776,7 +9775,7 @@ def FETtecESC(self):
"SERVO8_FUNCTION": 36,
"SIM_ESC_TELEM": 0,
})
self.customise_SITL_commandline(["--uartF=sim:fetteconewireesc"])
self.customise_SITL_commandline(["--serial5=sim:fetteconewireesc"])
self.FETtecESC_safety_switch()
self.FETtecESC_esc_power_checks()
self.FETtecESC_btw_mask_checks()
Expand Down Expand Up @@ -10251,7 +10250,7 @@ def test_rplidar(self, sim_device_name, expected_distances):
"PRX1_TYPE": 5,
})
self.customise_SITL_commandline([
"--uartF=sim:%s:" % sim_device_name,
"--serial5=sim:%s:" % sim_device_name,
"--home", "51.8752066,14.6487840,0,0", # SITL has "posts" here
])

Expand Down
4 changes: 2 additions & 2 deletions Tools/autotest/arduplane.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3160,7 +3160,7 @@ def TerrainLoiter(self):

def fly_external_AHRS(self, sim, eahrs_type, mission):
"""Fly with external AHRS (VectorNav)"""
self.customise_SITL_commandline(["--uartE=sim:%s" % sim])
self.customise_SITL_commandline(["--serial4=sim:%s" % sim])

self.set_parameters({
"EAHRS_TYPE": eahrs_type,
Expand Down Expand Up @@ -4214,7 +4214,7 @@ def EFITest(self, efi_type, name, sim_name, check_fuel_flow=True):
})

self.customise_SITL_commandline(
["--uartF=sim:%s" % sim_name,
["--serial5=sim:%s" % sim_name,
],
)
self.wait_ready_to_arm()
Expand Down
2 changes: 1 addition & 1 deletion Tools/autotest/pysim/util.py
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Original file line number Diff line number Diff line change
Expand Up @@ -539,7 +539,7 @@ def start_SITL(binary,
if unhide_parameters:
cmd.extend(['--unhide-groups'])
# somewhere for MAVProxy to connect to:
cmd.append('--uartC=tcp:2')
cmd.append('--serial1=tcp:2')
if not enable_fgview_output:
cmd.append("--disable-fgview")

Expand Down
4 changes: 2 additions & 2 deletions Tools/autotest/rover.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6114,14 +6114,14 @@ def DepthFinder(self):
'''Test mulitple depthfinders for boats'''
# Setup rangefinders
self.customise_SITL_commandline([
"--uartH=sim:nmea", # NMEA Rangefinder
"--serial7=sim:nmea", # NMEA Rangefinder
])

# RANGEFINDER_INSTANCES = [0, 2, 5]
self.set_parameters({
"RNGFND1_TYPE" : 17, # NMEA must attach uart to SITL
"RNGFND1_ORIENT" : 25, # Set to downward facing
"SERIAL7_PROTOCOL" : 9, # Rangefinder on uartH
"SERIAL7_PROTOCOL" : 9, # Rangefinder on serial7
"SERIAL7_BAUD" : 9600, # Rangefinder specific baudrate

"RNGFND3_TYPE" : 2, # MaxbotixI2C
Expand Down
17 changes: 8 additions & 9 deletions Tools/autotest/sim_vehicle.py
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Original file line number Diff line number Diff line change
Expand Up @@ -635,13 +635,13 @@ def run_in_terminal_window(name, cmd, **kw):
subprocess.Popen(runme, **kw)


tracker_uarta = None # blemish
tracker_serial0 = None # blemish


def start_antenna_tracker(opts):
"""Compile and run the AntennaTracker, add tracker to mavproxy"""

global tracker_uarta
global tracker_serial0
progress("Preparing antenna tracker")
tracker_home = find_location_by_name(opts.tracker_location)
vehicledir = os.path.join(autotest_dir, "../../" + "AntennaTracker")
Expand All @@ -652,7 +652,7 @@ def start_antenna_tracker(opts):
tracker_instance = 1
oldpwd = os.getcwd()
os.chdir(vehicledir)
tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
tracker_serial0 = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
binary_basedir = "build/sitl"
exe = os.path.join(root_dir,
binary_basedir,
Expand All @@ -669,7 +669,6 @@ def start_antenna_tracker(opts):
def start_CAN_Periph(opts, frame_info):
"""Compile and run the sitl_periph"""

global can_uarta
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Missed one?

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That's the only place that name is referenced in the whole source code. I figured it was unused, so I just removed it.

progress("Preparing sitl_periph_gps")
options = vinfo.options["sitl_periph_gps"]['frames']['gps']
defaults_path = frame_info.get('periph_params_filename', None)
Expand Down Expand Up @@ -838,9 +837,9 @@ def start_vehicle(binary, opts, stuff, spawns=None):
if spawns is not None:
c.extend(["--home", spawns[i]])
if opts.mcast:
c.extend(["--uartA", "mcast:"])
c.extend(["--serial0", "mcast:"])
elif opts.udp:
c.extend(["--uartA", "udpclient:127.0.0.1:" + str(5760+i*10)])
c.extend(["--serial0", "udpclient:127.0.0.1:" + str(5760+i*10)])
if opts.auto_sysid:
if opts.sysid is not None:
raise ValueError("Can't use auto-sysid and sysid together")
Expand Down Expand Up @@ -901,12 +900,12 @@ def start_mavproxy(opts, stuff):

if opts.tracker:
cmd.extend(["--load-module", "tracker"])
global tracker_uarta
# tracker_uarta is set when we start the tracker...
global tracker_serial0
# tracker_serial0 is set when we start the tracker...
extra_cmd += ("module load map;"
"tracker set port %s; "
"tracker start; "
"tracker arm;" % (tracker_uarta,))
"tracker arm;" % (tracker_serial0,))

if opts.mavlink_gimbal:
cmd.extend(["--load-module", "gimbal"])
Expand Down
24 changes: 12 additions & 12 deletions Tools/autotest/vehicle_test_suite.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2942,7 +2942,7 @@ def customise_SITL_commandline(self,
wipe=False,
set_streamrate_callback=None,
binary=None):
'''customisations could be "--uartF=sim:nmea" '''
'''customisations could be "--serial5=sim:nmea" '''
self.contexts[-1].sitl_commandline_customised = True
self.mav.close()
self.stop_SITL()
Expand Down Expand Up @@ -11939,8 +11939,8 @@ def NMEAOutput(self):
self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartE=tcp:%u" % port, # GPS2 is NMEA....
"--uartF=tcpclient:127.0.0.1:%u" % port, # serial5 spews to localhost port
"--serial4=tcp:%u" % port, # GPS2 is NMEA....
"--serial5=tcpclient:127.0.0.1:%u" % port, # serial5 spews to localhost port
])
self.do_timesync_roundtrip()
self.wait_gps_fix_type_gte(3)
Expand Down Expand Up @@ -12556,7 +12556,7 @@ def FRSkyPassThroughStatustext(self):
})
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyPassThrough(("127.0.0.1", port),
get_time=self.get_sim_time_cached)
Expand Down Expand Up @@ -12647,7 +12647,7 @@ def FRSkyPassThroughSensorIDs(self):
})
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyPassThrough(("127.0.0.1", port),
get_time=self.get_sim_time_cached)
Expand Down Expand Up @@ -12802,7 +12802,7 @@ def FRSkyMAVlite(self):
self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyPassThrough(("127.0.0.1", port))
frsky.connect()
Expand Down Expand Up @@ -13077,7 +13077,7 @@ def FRSkySPort(self):
self.set_parameter("RPM1_TYPE", 10) # enable SITL RPM sensor
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkySPort(("127.0.0.1", port), verbose=True)
self.wait_ready_to_arm()
Expand Down Expand Up @@ -13150,7 +13150,7 @@ def FRSkyD(self):
self.set_parameter("SERIAL5_PROTOCOL", 3) # serial5 is FRSky output
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyD(("127.0.0.1", port))
self.wait_ready_to_arm()
Expand Down Expand Up @@ -13269,7 +13269,7 @@ def LTM(self):
self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
ltm = LTM(("127.0.0.1", port))
self.wait_ready_to_arm()
Expand Down Expand Up @@ -13312,7 +13312,7 @@ def DEVO(self):
self.set_parameter("SERIAL5_PROTOCOL", 17) # serial5 is DEVO output
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
devo = DEVO(("127.0.0.1", port))
self.wait_ready_to_arm()
Expand Down Expand Up @@ -13385,7 +13385,7 @@ def MSP_DJI(self):
self.set_parameter("MSP_OPTIONS", 1) # telemetry (unpolled) mode
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
"--serial5=tcp:%u" % port # serial5 spews to localhost port
])
msp = MSP_DJI(("127.0.0.1", port))
self.wait_ready_to_arm()
Expand Down Expand Up @@ -13413,7 +13413,7 @@ def CRSF(self):
self.set_parameter("SERIAL5_PROTOCOL", 23) # serial5 is RCIN input
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 reads from to localhost port
"--serial5=tcp:%u" % port # serial5 reads from to localhost port
])
crsf = CRSF(("127.0.0.1", port))
crsf.connect()
Expand Down
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