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feat(drivers): implemented serial passthrough (#27605)

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* feat: implemented serial passthrough

* fix: used make format

* fix: changed function order to match other drivers

* fix: moved passthrough from systemcmds to drivers

* fix: renamed BITBANG_TIMER to UART_BITBANG_TIMER

* fix: used make format

* feat: added PASSTHRU_EN guard to start of dshot&pwm_out

* fix: made changing ESC channels more stable

* fix: adjusted naming of guards

* fix: changed include guard of bitbang

* fix: removed unused variable SER_PASS_BAUD

* fix: adjusted comments

* fix: adjusted print_usage() to match other drivers

* fix: remove bitbang_write_byte from public API and some buffer guard

* fix: added Serialpassthrough&Bitbang to exclude list of allyesconfig.py

* fix: added missing flag to print_usage()
This commit is contained in:
Phil-Engljaehringer
2026-06-12 18:27:26 +02:00
committed by GitHub
parent add48c25a6
commit f2eecc33f7
20 changed files with 1752 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rcS
+7 -2
View File
@@ -539,8 +539,13 @@ else
else
commander start
dshot start
pwm_out start
if param compare -s PASSTHRU_EN 0
then
dshot start
pwm_out start
else
param set PASSTHRU_EN 0
fi
fi
#
Tools/kconfig/allyesconfig.py
+3
View File
@@ -54,6 +54,8 @@ exception_list = [
'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
'DRIVERS_SERIALPASSTHROUGH', # Requires board-specific UART config and NuttX
'SERIALPASSTHROUGH_BITBANG', # Requires STM32 timer and GPIO config
]
exception_list_sitl = [
@@ -110,6 +112,7 @@ exception_list_sitl = [
'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
'DRIVERS_SERIALPASSTHROUGH', # Not supported in SITL
]
def main():
boards/auterion/fmu-v6s/default.px4board
+3
View File
@@ -1,5 +1,6 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_ARCH_CHIP_STM32H7=y
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
@@ -95,4 +96,6 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_DRIVERS_SERIALPASSTHROUGH=y
CONFIG_SERIALPASSTHROUGH_BITBANG=y
CONFIG_WQ_TTY_STACKSIZE=2500
boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig
+1
View File
@@ -244,6 +244,7 @@ CONFIG_STM32H7_TIM3=y
CONFIG_STM32H7_TIM4=y
CONFIG_STM32H7_TIM5=y
CONFIG_STM32H7_TIM8=y
CONFIG_STM32H7_TIM13=y
CONFIG_STM32H7_UART4=y
CONFIG_STM32H7_UART5=y
CONFIG_STM32H7_UART7=y
boards/auterion/fmu-v6x/default.px4board
+3
View File
@@ -1,5 +1,6 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_ARCH_CHIP_STM32H7=y
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
@@ -99,3 +100,5 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_DRIVERS_SERIALPASSTHROUGH=y
CONFIG_SERIALPASSTHROUGH_BITBANG=y
boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig
+1
View File
@@ -257,6 +257,7 @@ CONFIG_STM32H7_TIM12=y
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_TIM4=y
CONFIG_STM32H7_TIM5=y
CONFIG_STM32H7_TIM13=y
CONFIG_STM32H7_UART4=y
CONFIG_STM32H7_UART5=y
CONFIG_STM32H7_UART7=y
platforms/nuttx/src/px4/stm/stm32_common/bitbang_uart/CMakeLists.txt
+37
View File
@@ -0,0 +1,37 @@
############################################################################
#
# Copyright (c) 2026 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(arch_bitbang_uart
bitbang_uart.cpp
)
target_compile_options(arch_bitbang_uart PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
platforms/nuttx/src/px4/stm/stm32_common/bitbang_uart/bitbang_uart.cpp
+534
View File
File diff suppressed because it is too large Load Diff
platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt
+4
View File
@@ -44,5 +44,9 @@ add_subdirectory(../stm32_common/spi spi)
add_subdirectory(../stm32_common/tone_alarm tone_alarm)
add_subdirectory(../stm32_common/version version)
if(CONFIG_SERIALPASSTHROUGH_BITBANG)
add_subdirectory(../stm32_common/bitbang_uart bitbang_uart)
endif()
add_subdirectory(px4io_serial)
add_subdirectory(watchdog)
platforms/nuttx/src/px4/stm/stm32h7/CMakeLists.txt
+4
View File
@@ -45,4 +45,8 @@ add_subdirectory(../stm32_common/spi spi)
add_subdirectory(../stm32_common/tone_alarm tone_alarm)
add_subdirectory(../stm32_common/version version)
if(CONFIG_SERIALPASSTHROUGH_BITBANG)
add_subdirectory(../stm32_common/bitbang_uart bitbang_uart)
endif()
add_subdirectory(px4io_serial)
src/drivers/drv_bitbang_uart.h
+95
View File
@@ -0,0 +1,95 @@
/****************************************************************************
*
* Copyright (c) 2026 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_bitbang_uart.h
*
* Architecture-agnostic interface for bit-bang UART.
*
* Currently implemented for STM32F7/H7 in:
* platforms/nuttx/src/px4/stm/stm32_common/bitbang_uart/
*
* NOTE: Currently only single-wire (half-duplex) operation is implemented.
* The single_wire flag is provided in the API to make this explicit and to
* allow future extension to dual-wire (full-duplex) operation.
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <px4_platform_common/defines.h>
__BEGIN_DECLS
/**
* Initialize bit-bang UART
*
* @param baudrate Baudrate (typically 19200)
* @param single_wire True for single-wire half-duplex (TX and RX share one GPIO).
* False for dual-wire full-duplex (separate TX/RX GPIOs) — not yet implemented.
* @return 0 on success, negative error code on failure
*/
int bitbang_uart_init(uint32_t baudrate, bool single_wire);
/**
* Deinitialize bit-bang UART
*
* @return 0 on success, negative error code on failure
*/
int bitbang_uart_deinit(void);
/**
* Transmit multiple bytes
*
* @param channel Timer/GPIO channel
* @param data Pointer to data buffer
* @param length Number of bytes to transmit
* @return Number of bytes transmitted, or negative error code on failure
*/
int bitbang_uart_write(uint8_t channel, const uint8_t *data, size_t length);
/**
* Read received bytes (blocking with timeout)
*
* @param channel Timer/GPIO channel
* @param data Pointer to buffer for received data
* @param length Number of bytes to read
* @param timeout_us Timeout in microseconds (0 = block until length bytes received)
* @return Number of bytes actually read
*/
int bitbang_uart_read(uint8_t channel, uint8_t *data, size_t length, uint32_t timeout_us);
__END_DECLS
src/drivers/serialpassthrough/CMakeLists.txt
+47
View File
@@ -0,0 +1,47 @@
############################################################################
#
# Copyright (c) 2025 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__serialpassthrough
MAIN serialpassthrough
SRCS
serialpassthrough.cpp
DEPENDS
px4_platform
MODULE_CONFIG
module.yaml
)
if(CONFIG_SERIALPASSTHROUGH_BITBANG)
target_link_libraries(drivers__serialpassthrough PRIVATE arch_bitbang_uart)
endif()
src/drivers/serialpassthrough/Kconfig
+30
View File
@@ -0,0 +1,30 @@
menuconfig DRIVERS_SERIALPASSTHROUGH
bool "serialpassthrough"
default n
---help---
Enable the serialpassthrough module.
Forwards data between a UART and a MAVLink via
SERIAL_CONTROL messages.
if DRIVERS_SERIALPASSTHROUGH
config SERIALPASSTHROUGH_BITBANG
bool "Enable bit-bang UART support (ESC channel mode)"
default n
depends on PLATFORM_NUTTX
---help---
Enable bit-bang UART.
if SERIALPASSTHROUGH_BITBANG
config UART_BITBANG_TIMER
int "Timer instance for bit-bang UART"
default 13
range 1 17
---help---
Timer instance to use for bit-bang UART timing mode.
Default TIM13.
endif # SERIALPASSTHROUGH_BITBANG
endif # DRIVERS_SERIALPASSTHROUGH
src/drivers/serialpassthrough/module.yaml
+15
View File
@@ -0,0 +1,15 @@
module_name: Serial Passthrough (MAVLink)
parameters:
- group: Serial Passthrough
definitions:
PASSTHRU_EN:
description:
short: Serial passthrough enable
long: |
When enabled, the serial passthrough mode is active and the
normal motor output drivers (dshot, pwm_out) are not started
at boot.
type: boolean
default: 0
reboot_required: true
src/drivers/serialpassthrough/serialpassthrough.cpp
+729
View File
File diff suppressed because it is too large Load Diff
src/drivers/serialpassthrough/serialpassthrough.hpp
+164
View File
@@ -0,0 +1,164 @@
/****************************************************************************
*
* Copyright (c) 2026 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file serialpassthrough.hpp
*
* Serial passthrough driven by MAVLink SERIAL_CONTROL messages.
*
* Exposes a thread-safe push/pop interface so MavlinkReceiver can push
* incoming payload bytes to the UART, and the Mavlink main loop can drain
* UART-received bytes back as SERIAL_CONTROL replies.
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/Serial.hpp>
#ifdef CONFIG_SERIALPASSTHROUGH_BITBANG
#include <drivers/drv_bitbang_uart.h>
#endif
#include <stdint.h>
#include <stddef.h>
#include <pthread.h>
static constexpr size_t SP_BUF_SIZE = 1024;
static constexpr int SP_MAX_INSTANCES = 8;
class SerialPassthrough
{
public:
SerialPassthrough(const char *device_path, unsigned baudrate, bool swap_rxtx, bool single_wire, int esc_channel = -1);
~SerialPassthrough();
static int task_spawn(int argc, char *argv[]);
static int run_trampoline(int argc, char *argv[]);
static SerialPassthrough *instantiate(int argc, char *argv[]);
static int print_usage(const char *reason = nullptr);
void run();
/**
* Print status of all running instances.
*/
static int print_status_all();
/**
* Get instance by slot index (0..SP_MAX_INSTANCES-1). Returns nullptr if slot empty.
* Used by Mavlink main loop to iterate all instances.
*/
static SerialPassthrough *get_instance_by_index(int index);
/**
* Get the running instance for a specific device_id. Returns nullptr if not running.
*/
static SerialPassthrough *get_instance_for_device(uint8_t device_id);
/**
* Start an instance for a given device ID (from SERIAL_CONTROL device field).
* Maps device IDs to board-specific UART paths using CONFIG_BOARD_SERIAL_*.
* If already running on the same device, does nothing.
* Device IDs: 0=TEL1, 1=TEL2, 2=GPS1, 3=GPS2, 4=TEL3, 5=TEL4, 20-27=ESC bitbang ch0-7
* Returns 0 on success, -1 if device ID is not supported on this board.
*/
static int startForDevice(uint8_t device_id, uint32_t baudrate);
/**
* Stop the instance for a specific device_id.
*/
static void stop_for_device(uint8_t device_id);
/**
* Stop all running instances.
*/
static void stop_all();
/**
* Push data received via MAVLink SERIAL_CONTROL to the UART.
* Thread-safe; called from MavlinkReceiver thread.
* channel: the MAVLink channel index (0-based) this arrived on.
*/
void pushFromMavlink(const uint8_t *data, size_t len,
uint8_t sysid, uint8_t compid, uint8_t device,
uint8_t channel);
/**
* Pop up to max_len bytes of UART-received data for sending back as
* SERIAL_CONTROL reply. Thread-safe; called from Mavlink main loop.
* Only returns data if channel matches the channel that sent the request.
*/
size_t popToMavlink(uint8_t *buf, size_t max_len,
uint8_t *out_sysid, uint8_t *out_compid, uint8_t *out_device,
uint8_t channel);
bool should_exit() const { return _should_exit.load(); }
void request_stop() { _should_exit.store(true); }
private:
// --- Static instance registry ---
static SerialPassthrough *_instances[SP_MAX_INSTANCES];
static pthread_mutex_t _instances_mutex;
bool register_instance(uint8_t device_id);
void unregister_instance();
device::Serial _serial_port;
char _dev_path[20] {};
unsigned _baudrate{115200};
bool _swap_rxtx{false};
bool _single_wire{false};
int _esc_channel{-1}; // if >= 0, use bitbang_uart on this motor channel instead of _serial_port
uint8_t _registered_device_id{255};
px4::atomic_bool _should_exit{false};
// MAVLink → UART buffer (written by pushFromMavlink, drained by run())
uint8_t _rx_buf[SP_BUF_SIZE] {};
size_t _rx_len{0};
pthread_mutex_t _rx_mutex;
// UART → MAVLink buffer (written by run(), drained by popToMavlink)
uint8_t _tx_buf[SP_BUF_SIZE] {};
size_t _tx_len{0};
pthread_mutex_t _tx_mutex;
// Reply metadata (sysid/compid/device/channel of last received message)
uint8_t _target_sysid{0};
uint8_t _target_compid{0};
uint8_t _device_id{0};
uint8_t _tx_channel{255}; // MAVLink channel index to reply on (255 = not set)
pthread_mutex_t _meta_mutex;
uint8_t _ser_read_buf[256] {};
};
src/modules/mavlink/CMakeLists.txt
+4
View File
@@ -147,6 +147,10 @@ px4_add_module(
UNITY_BUILD
)
if(CONFIG_DRIVERS_SERIALPASSTHROUGH)
target_link_libraries(modules__mavlink PRIVATE drivers__serialpassthrough)
endif()
px4_add_unit_gtest(SRC MavlinkStatustextHandlerTest.cpp
INCLUDES
${MAVLINK_LIBRARY_DIR}
src/modules/mavlink/mavlink_main.cpp
+38
View File
@@ -61,6 +61,10 @@
#include "mavlink_receiver.h"
#include "mavlink_main.h"
#ifdef CONFIG_DRIVERS_SERIALPASSTHROUGH
#include <drivers/serialpassthrough/serialpassthrough.hpp>
#endif
#ifdef MAVLINK_UDP
#include <sys/time.h>
#endif
@@ -2519,6 +2523,7 @@ Mavlink::task_main(int argc, char *argv[])
handleCommands();
handleAndGetCurrentCommandAck();
handleMavlinkShellOutput();
handleSerialPassthroughOutput();
check_requested_subscriptions();
@@ -2694,6 +2699,39 @@ void Mavlink::handleStatus()
}
}
void Mavlink::handleSerialPassthroughOutput()
{
#ifdef CONFIG_DRIVERS_SERIALPASSTHROUGH
// Drain all pending UART->MAVLink data from every active instance,
// one SERIAL_CONTROL message at a time.
mavlink_serial_control_t msg{};
msg.baudrate = 0;
msg.timeout = 0;
msg.flags = SERIAL_CONTROL_FLAG_REPLY;
uint8_t sysid, compid, device;
for (int i = 0; i < SP_MAX_INSTANCES; i++) {
SerialPassthrough *sp = SerialPassthrough::get_instance_by_index(i);
if (!sp) { continue; }
while (get_free_tx_buf() >= MAVLINK_MSG_ID_SERIAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
size_t n = sp->popToMavlink(msg.data, sizeof(msg.data), &sysid, &compid, &device,
(uint8_t)get_channel());
if (n == 0) { break; }
PX4_DEBUG("handleSerialPassthroughOutput: sending %zu bytes", n);
msg.count = n;
msg.device = device;
mavlink_msg_serial_control_send_struct(get_channel(), &msg);
}
}
#endif
}
void Mavlink::handleMavlinkShellOutput()
{
if (_mavlink_shell) { // First do a fast check before taking the lock
src/modules/mavlink/mavlink_main.h
+2
View File
@@ -694,6 +694,8 @@ private:
void handleMavlinkShellOutput();
void handleSerialPassthroughOutput();
/**
* Reconfigure a SiK radio if requested by MAV_SIK_RADIO_ID
*
src/modules/mavlink/mavlink_receiver.cpp
+31 -4
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2026 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -61,6 +61,10 @@
#include "mavlink_main.h"
#include "mavlink_receiver.h"
#ifdef CONFIG_DRIVERS_SERIALPASSTHROUGH
#include <drivers/serialpassthrough/serialpassthrough.hpp>
#endif
#include <lib/drivers/device/Device.hpp> // For DeviceId union
#include <containers/LockGuard.hpp>
@@ -1996,13 +2000,36 @@ MavlinkReceiver::handle_message_serial_control(mavlink_message_t *msg)
if ((serial_control_mavlink.target_system != 0 &&
mavlink_system.sysid != serial_control_mavlink.target_system) ||
(serial_control_mavlink.target_component != 0 &&
mavlink_system.compid != serial_control_mavlink.target_component)) {
mavlink_system.compid != serial_control_mavlink.target_component) ||
(serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_REPLY)) {
return;
}
// (0=TEL1, 1=TEL2, 2=GPS1, 3=GPS2, 4=TEL3, 5=TEL4)
// (20-27: ESC0 - ESC7)
#ifdef CONFIG_DRIVERS_SERIALPASSTHROUGH
if (serial_control_mavlink.device <= 5 ||
(serial_control_mavlink.device >= 20 && serial_control_mavlink.device <= 27)) {
SerialPassthrough::startForDevice(serial_control_mavlink.device, serial_control_mavlink.baudrate);
SerialPassthrough *sp = SerialPassthrough::get_instance_for_device(serial_control_mavlink.device);
if (sp && serial_control_mavlink.count > 0) {
sp->pushFromMavlink(serial_control_mavlink.data,
serial_control_mavlink.count,
msg->sysid, msg->compid,
serial_control_mavlink.device,
(uint8_t)_mavlink.get_channel());
}
return;
}
#endif // CONFIG_DRIVERS_SERIALPASSTHROUGH
// we only support shell commands
if (serial_control_mavlink.device != SERIAL_CONTROL_DEV_SHELL
|| (serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_REPLY)) {
if (serial_control_mavlink.device != SERIAL_CONTROL_DEV_SHELL) {
return;
}