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[mavlink] Parameter to always start on USB (#22234)

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* usb: Added parameter to enable always starting mavlink on USB.

    Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on
    USB, also added a paramter to choose the mode. The current default behavior is to wait and listen
    for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink
    stream not starting until something else on the mavlink network sends a packet first. The new
    default behavior is to always start mavlink.

    Added parameters
    MAV_USB_ENABLE -- default 1 (always start mavlink on USB)
    MAV_USE_MODE -- default 3 (onboard)

* added 3 retries for opening serial port in mavlink, removed sleep before sercon

* added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board

* added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig

* format

* remove PGA460 from COMMON_DISTANCE_SENSOR to save flash

* remove LIS2MDL from COMMON_MAGNETOMETER to save flash

* disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board

* moved and renamed parameters, removed mode logic in mavlink

* changed parameter names, added mode none

* remove parameters from mavlink
This commit is contained in:
Jacob Dahl 2024-05-20 12:35:29 -06:00 committed by GitHub
parent 6b0ac49daf
commit 70304fe715
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
67 changed files with 982 additions and 25 deletions
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8
ROMFS/px4fmu_common/init.d/rcS
View File

@ -439,6 +439,14 @@ else
# Must be started after the serial config is read
rc_input start $RC_INPUT_ARGS
# Manages USB interface
if ! cdcacm_autostart start
then
sercon
echo "Starting MAVLink on /dev/ttyACM0"
mavlink start -d /dev/ttyACM0
fi
#
# Play the startup tune (if not disabled or there is an error)
#

1
boards/airmind/mindpx-v2/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y

2
boards/ark/fmu-v6x/default.px4board
View File

@ -8,12 +8,14 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y

1
boards/atl/mantis-edu/default.px4board
View File

@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y

1
boards/bitcraze/crazyflie/default.px4board
View File

@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_BAROMETER_LPS25H=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
CONFIG_DRIVERS_GPS=y

1
boards/bitcraze/crazyflie21/default.px4board
View File

@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088_I2C=y

1
boards/cuav/nora/default.px4board
View File

@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
CONFIG_DRIVERS_ADC_ADS1115=y
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y

1
boards/cuav/x7pro/default.px4board
View File

@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
CONFIG_DRIVERS_ADC_ADS1115=y
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y

1
boards/cubepilot/cubeorange/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/cubepilot/cubeorangeplus/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/cubepilot/cubeyellow/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/diatone/mamba-f405-mk2/default.px4board
View File

@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP280=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y

1
boards/flywoo/gn-f405/default.px4board
View File

@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP280=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y

1
boards/hkust/nxt-dual/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/hkust/nxt-v1/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/holybro/durandal-v1/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/holybro/kakutef7/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP280=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y

1
boards/holybro/kakuteh7/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/holybro/kakuteh7mini/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/holybro/kakuteh7v2/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/holybro/pix32v5/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/matek/h743-mini/default.px4board
View File

@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y

1
boards/matek/h743-slim/default.px4board
View File

@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y

1
boards/matek/h743/default.px4board
View File

@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y

1
boards/modalai/fc-v1/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/modalai/fc-v2/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y

1
boards/mro/ctrl-zero-classic/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/mro/pixracerpro/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/mro/x21-777/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/mro/x21/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/nxp/fmuk66-e/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y

1
boards/nxp/fmuk66-v3/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y

1
boards/omnibus/f4sd/default.px4board
View File

@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP280=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y

1
boards/px4/fmu-v2/default.px4board
View File

@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
CONFIG_DRIVERS_IMU_ST_L3GD20=y

1
boards/px4/fmu-v3/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v4/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v4pro/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v5/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v5/protected.px4board
View File

@ -6,6 +6,7 @@ CONFIG_COMMON_OPTICAL_FLOW=n
CONFIG_COMMON_TELEMETRY=n
CONFIG_DRIVERS_CAMERA_CAPTURE=n
CONFIG_DRIVERS_CAMERA_TRIGGER=n
CONFIG_DRIVERS_CDCACM_AUTOSTART=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_PWM_INPUT=n

1
boards/px4/fmu-v5x/default.px4board
View File

@ -14,6 +14,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v6c/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v6u/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v6x/default.px4board
View File

@ -14,6 +14,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/px4/fmu-v6xrt/default.px4board
View File

@ -13,6 +13,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/raspberrypi/pico/default.px4board
View File

@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP280=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y

1
boards/siyi/n7/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y

1
boards/sky-drones/smartap-airlink/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/spracing/h7extreme/default.px4board
View File

@ -4,6 +4,7 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y

1
boards/thepeach/k1/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/thepeach/r1/default.px4board
View File

@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y

1
boards/uvify/core/default.px4board
View File

@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y

1
platforms/nuttx/src/px4/common/CMakeLists.txt
View File

@ -38,7 +38,6 @@ if(NOT PX4_BOARD MATCHES "io-v2")
board_crashdump.c
board_dma_alloc.c
board_fat_dma_alloc.c
cdc_acm_check.cpp
console_buffer.cpp
cpuload.cpp
gpio.c

6
platforms/nuttx/src/px4/common/px4_init.cpp
View File

@ -62,8 +62,6 @@
#include <px4_platform/board_ctrl.h>
#endif
extern void cdcacm_init(void);
#if !defined(CONFIG_BUILD_FLAT)
typedef CODE void (*initializer_t)(void);
extern initializer_t _sinit;
@ -196,10 +194,6 @@ int px4_platform_init()
px4_log_initialize();
#if defined(CONFIG_SYSTEM_CDCACM) && defined(CONFIG_BUILD_FLAT)
cdcacm_init();
#endif
return PX4_OK;
}

1
platforms/nuttx/src/px4/common/px4_layer.cmake
View File

@ -2,7 +2,6 @@
add_library(px4_layer
${KERNEL_SRCS}
cdc_acm_check.cpp
${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
SerialImpl.cpp
)

1
platforms/nuttx/src/px4/common/px4_protected_layers.cmake
View File

@ -6,7 +6,6 @@ add_library(px4_layer
board_fat_dma_alloc.c
tasks.cpp
console_buffer_usr.cpp
cdc_acm_check.cpp
${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
px4_userspace_init.cpp

6
platforms/nuttx/src/px4/common/px4_userspace_init.cpp
View File

@ -44,8 +44,6 @@
#include <uORB/uORB.h>
#include <sys/boardctl.h>
extern void cdcacm_init(void);
extern "C" void px4_userspace_init(void)
{
hrt_init();
@ -55,8 +53,4 @@ extern "C" void px4_userspace_init(void)
px4::WorkQueueManagerStart();
uorb_start();
#if defined(CONFIG_SYSTEM_CDCACM)
cdcacm_init();
#endif
}

40
src/drivers/cdcacm_autostart/CMakeLists.txt Normal file
View File

@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2023 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__cdcacm_autostart
MAIN cdcacm_autostart
COMPILE_FLAGS
# -DDEBUG_BUILD
SRCS
cdcacm_autostart.cpp
)

6
src/drivers/cdcacm_autostart/Kconfig Normal file
View File

@ -0,0 +1,6 @@
menuconfig DRIVERS_CDCACM_AUTOSTART
bool "cdcacm_autostart"
default n
depends on MODULES_MAVLINK
---help---
Enable support for cdcacm_autostart

663
src/drivers/cdcacm_autostart/cdcacm_autostart.cpp Normal file
View File

@ -0,0 +1,663 @@
/****************************************************************************
*
* Copyright (c) 2023 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.
*
****************************************************************************/
#if defined(CONFIG_SYSTEM_CDCACM)
#include "cdcacm_autostart.h"
__BEGIN_DECLS
#include <arch/board/board.h>
#include <builtin/builtin.h>
extern int sercon_main(int c, char **argv);
extern int serdis_main(int c, char **argv);
__END_DECLS
#include <px4_platform_common/shutdown.h>
#define USB_DEVICE_PATH "/dev/ttyACM0"
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
# undef SERIAL_PASSTHRU_UBLOX_DEV
# if defined(CONFIG_SERIAL_PASSTHRU_GPS1) && defined(CONFIG_BOARD_SERIAL_GPS1)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS1
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS2)&& defined(CONFIG_BOARD_SERIAL_GPS2)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS2
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS3)&& defined(CONFIG_BOARD_SERIAL_GPS3)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS3
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS4)&& defined(CONFIG_BOARD_SERIAL_GPS4)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS4
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS5) && defined(CONFIG_BOARD_SERIAL_GPS5)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS5
# endif
# if !defined(SERIAL_PASSTHRU_UBLOX_DEV)
# error "CONFIG_SERIAL_PASSTHRU_GPSn and CONFIG_BOARD_SERIAL_GPSn must be defined"
# endif
#endif
CdcAcmAutostart::CdcAcmAutostart() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{}
CdcAcmAutostart::~CdcAcmAutostart()
{
PX4_INFO("Stopping CDC/ACM autostart");
if (_ttyacm_fd >= 0) {
px4_close(_ttyacm_fd);
}
ScheduleClear();
}
int CdcAcmAutostart::Start()
{
PX4_INFO("Starting CDC/ACM autostart");
UpdateParams(true);
ScheduleNow();
return PX4_OK;
}
void CdcAcmAutostart::Run()
{
if (should_exit()) {
exit_and_cleanup();
return;
}
UpdateParams();
run_state_machine();
}
void CdcAcmAutostart::run_state_machine()
{
_reschedule_time = 500_ms;
_vbus_present = (board_read_VBUS_state() == PX4_OK);
// If the hardware supports RESET lockout that has nArmed ANDed with VBUS
// vbus_sense may drop during a param save which uses
// BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
// while writing the params. If we are not armed and nARMRED is low
// we are in such a lock out so ignore changes on VBUS_SENSE during this
// time.
#if defined(BOARD_GET_EXTERNAL_LOCKOUT_STATE)
if (BOARD_GET_EXTERNAL_LOCKOUT_STATE() == 0) {
_vbus_present = _vbus_present_prev;
ScheduleDelayed(500_ms);
return;
}
#endif
// Do not reconfigure USB while flying
actuator_armed_s report;
_actuator_armed_sub.copy(&report);
if (report.armed) {
_vbus_present_prev = _vbus_present;
} else {
switch (_state) {
case UsbAutoStartState::disconnected:
state_disconnected();
break;
case UsbAutoStartState::connecting:
state_connecting();
break;
case UsbAutoStartState::connected:
state_connected();
break;
case UsbAutoStartState::disconnecting:
state_disconnecting();
break;
}
}
_vbus_present_prev = _vbus_present;
ScheduleDelayed(_reschedule_time);
}
void CdcAcmAutostart::state_connected()
{
if (!_vbus_present && !_vbus_present_prev && (_active_protocol == UsbProtocol::mavlink)) {
PX4_DEBUG("lost vbus!");
sched_lock();
static const char app[] {"mavlink"};
static const char *stop_argv[] {"mavlink", "stop", "-d", USB_DEVICE_PATH, NULL};
exec_builtin(app, (char **)stop_argv, NULL, 0);
sched_unlock();
_state = UsbAutoStartState::disconnecting;
}
}
void CdcAcmAutostart::state_disconnected()
{
if (_vbus_present && _vbus_present_prev) {
PX4_DEBUG("starting sercon");
if (sercon_main(0, nullptr) == EXIT_SUCCESS) {
_state = UsbAutoStartState::connecting;
PX4_DEBUG("state connecting");
_reschedule_time = 1_s;
}
} else if (_vbus_present && !_vbus_present_prev) {
// USB just connected, try again soon
_reschedule_time = 100_ms;
}
}
void CdcAcmAutostart::state_connecting()
{
int bytes_available = 0;
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
struct termios uart_config;
speed_t baudrate;
#endif
if (!_vbus_present) {
PX4_DEBUG("No VBUS");
goto fail;
}
if (_ttyacm_fd < 0) {
PX4_DEBUG("opening port");
_ttyacm_fd = px4_open(USB_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
}
if (_ttyacm_fd < 0) {
PX4_DEBUG("can't open port");
goto fail;
}
if (_sys_usb_auto.get() == 2) {
PX4_INFO("Starting mavlink on %s (SYS_USB_AUTO=2)", USB_DEVICE_PATH);
if (start_mavlink()) {
_state = UsbAutoStartState::connected;
_active_protocol = UsbProtocol::mavlink;
} else {
_state = UsbAutoStartState::disconnecting;
_reschedule_time = 100_ms;
}
return;
} else if (_sys_usb_auto.get() == 0) {
// Do nothing
_state = UsbAutoStartState::connected;
_active_protocol = UsbProtocol::none;
return;
}
// Otherwise autodetect
if ((px4_ioctl(_ttyacm_fd, FIONREAD, &bytes_available) != PX4_OK) ||
(bytes_available < 3)) {
PX4_DEBUG("bytes_available: %d", bytes_available);
// Return back to connecting state to check again soon
return;
}
// Non-blocking read
_bytes_read = px4_read(_ttyacm_fd, _buffer, sizeof(_buffer));
#if defined(DEBUG_BUILD)
if (_bytes_read > 0) {
fprintf(stderr, "%d bytes\n", _bytes_read);
for (int i = 0; i < _bytes_read; i++) {
fprintf(stderr, "|%X", _buffer[i]);
}
fprintf(stderr, "\n");
}
#endif // DEBUG_BUILD
if (_bytes_read <= 0) {
PX4_DEBUG("no _bytes_read");
// Return back to connecting state to check again soon
return;
}
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
// Get the baudrate for serial passthru before closing the port.
tcgetattr(_ttyacm_fd, &uart_config);
baudrate = cfgetspeed(&uart_config);
#endif
PX4_DEBUG("_bytes_read %d", _bytes_read);
px4_close(_ttyacm_fd);
_ttyacm_fd = -1;
// Parse for mavlink reboot command
if (scan_buffer_for_mavlink_reboot()) {
// Reboot incoming. Return without rescheduling.
return;
}
// Parse for mavlink heartbeats (v1 and v2).
if (scan_buffer_for_mavlink_heartbeat()) {
if (start_mavlink()) {
_state = UsbAutoStartState::connected;
_active_protocol = UsbProtocol::mavlink;
} else {
_state = UsbAutoStartState::disconnecting;
_reschedule_time = 100_ms;
}
return;
}
// Parse for carriage returns indicating someone is trying to use the nsh.
if (scan_buffer_for_carriage_returns()) {
if (start_nsh()) {
_state = UsbAutoStartState::connected;
_active_protocol = UsbProtocol::nsh;
} else {
_state = UsbAutoStartState::disconnecting;
_reschedule_time = 100_ms;
}
return;
}
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
// Parse for ublox start of packet byte sequence.
if (scan_buffer_for_ublox_bytes()) {
if (start_ublox_serial_passthru(baudrate)) {
_state = UsbAutoStartState::connected;
_active_protocol = UsbProtocol::ublox;
} else {
_state = UsbAutoStartState::disconnecting;
_reschedule_time = 100_ms;
}
return;
}
#endif
return;
fail:
PX4_DEBUG("fail...");
// VBUS not present, open failed
if (_ttyacm_fd >= 0) {
px4_close(_ttyacm_fd);
_ttyacm_fd = -1;
}
_state = UsbAutoStartState::disconnecting;
}
void CdcAcmAutostart::state_disconnecting()
{
PX4_DEBUG("state_disconnecting");
if (_ttyacm_fd > 0) {
px4_close(_ttyacm_fd);
}
// Disconnect serial
serdis_main(0, NULL);
_state = UsbAutoStartState::disconnected;
_active_protocol = UsbProtocol::none;
}
bool CdcAcmAutostart::scan_buffer_for_mavlink_reboot()
{
bool rebooting = false;
// Mavlink reboot/shutdown command
// COMMAND_LONG (#76) with command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)
static constexpr int MAVLINK_COMMAND_LONG_MIN_LENGTH = 41;
if (_bytes_read < MAVLINK_COMMAND_LONG_MIN_LENGTH) {
return rebooting;
}
// scan buffer for mavlink COMMAND_LONG
for (int i = 0; i < _bytes_read - MAVLINK_COMMAND_LONG_MIN_LENGTH; i++) {
if ((_buffer[i] == 0xFE) // Mavlink v1 start byte
&& (_buffer[i + 5] == 76) // 76=0x4C COMMAND_LONG
&& (_buffer[i + 34] == 246) // 246=0xF6 MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN
) {
// mavlink v1 COMMAND_LONG
// buffer[0]: start byte (0xFE for mavlink v1)
// buffer[3]: SYSID
// buffer[4]: COMPID
// buffer[5]: message id (COMMAND_LONG 76=0x4C)
// buffer[6-10]: COMMAND_LONG param 1 (little endian float)
// buffer[34]: COMMAND_LONG command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246/0xF6)
float param1_raw = 0;
memcpy(&param1_raw, &_buffer[i + 6], 4);
int param1 = roundf(param1_raw);
PX4_INFO("%s: Mavlink MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN param 1: %d (SYSID:%d COMPID:%d)",
USB_DEVICE_PATH, param1, _buffer[i + 3], _buffer[i + 4]);
if (param1 == 1) {
// 1: Reboot autopilot
rebooting = true;
px4_reboot_request(REBOOT_REQUEST, 0);
} else if (param1 == 2) {
// 2: Shutdown autopilot
#if defined(BOARD_HAS_POWER_CONTROL)
rebooting = true;
px4_shutdown_request(0);
#endif // BOARD_HAS_POWER_CONTROL
} else if (param1 == 3) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
rebooting = true;
px4_reboot_request(REBOOT_TO_BOOTLOADER, 0);
}
}
}
return rebooting;
}
bool CdcAcmAutostart::scan_buffer_for_mavlink_heartbeat()
{
static constexpr int MAVLINK_HEARTBEAT_MIN_LENGTH = 9;
bool start_mavlink = false;
if (_bytes_read < MAVLINK_HEARTBEAT_MIN_LENGTH) {
return start_mavlink;
}
// scan buffer for mavlink HEARTBEAT (v1 & v2)
for (int i = 0; i < _bytes_read - MAVLINK_HEARTBEAT_MIN_LENGTH; i++) {
if ((_buffer[i] == 0xFE) && (_buffer[i + 1] == 9) && (_buffer[i + 5] == 0)) {
// mavlink v1 HEARTBEAT
// buffer[0]: start byte (0xFE for mavlink v1)
// buffer[1]: length (9 for HEARTBEAT)
// buffer[3]: SYSID
// buffer[4]: COMPID
// buffer[5]: mavlink message id (0 for HEARTBEAT)
PX4_INFO("%s: launching mavlink (HEARTBEAT v1 from SYSID:%d COMPID:%d)",
USB_DEVICE_PATH, _buffer[i + 3], _buffer[i + 4]);
start_mavlink = true;
} else if ((_buffer[i] == 0xFD) && (_buffer[i + 1] == 9)
&& (_buffer[i + 7] == 0) && (_buffer[i + 8] == 0) && (_buffer[i + 9] == 0)) {
// mavlink v2 HEARTBEAT
// buffer[0]: start byte (0xFD for mavlink v2)
// buffer[1]: length (9 for HEARTBEAT)
// buffer[5]: SYSID
// buffer[6]: COMPID
// buffer[7:9]: mavlink message id (0 for HEARTBEAT)
PX4_INFO("%s: launching mavlink (HEARTBEAT v2 from SYSID:%d COMPID:%d)",
USB_DEVICE_PATH, _buffer[i + 5], _buffer[i + 6]);
start_mavlink = true;
}
}
return start_mavlink;
}
bool CdcAcmAutostart::scan_buffer_for_carriage_returns()
{
bool start_nsh = false;
if (_bytes_read < 3) {
return start_nsh;
}
// nshterm (3 carriage returns)
// scan buffer looking for 3 consecutive carriage returns (0xD)
for (int i = 1; i < _bytes_read - 1; i++) {
if (_buffer[i - 1] == 0xD && _buffer[i] == 0xD && _buffer[i + 1] == 0xD) {
PX4_INFO("%s: launching nshterm", USB_DEVICE_PATH);
start_nsh = true;
break;
}
}
return start_nsh;
}
bool CdcAcmAutostart::scan_buffer_for_ublox_bytes()
{
bool success = false;
if (_bytes_read < 4) {
return success;
}
// scan buffer looking for 0xb5 0x62 which indicates the start of a packet
for (int i = 0; i < _bytes_read; i++) {
bool ub = _buffer[i] == 0xb5 && _buffer[i + 1] == 0x62;
if (ub && ((_buffer[i + 2 ] == 0x6 && (_buffer[i + 3 ] == 0xb8 || _buffer[i + 3 ] == 0x13)) ||
(_buffer[i + 2 ] == 0xa && _buffer[i + 3 ] == 0x4))) {
PX4_INFO("%s: launching ublox serial passthru", USB_DEVICE_PATH);
success = true;
break;
}
}
return success;
}
bool CdcAcmAutostart::start_mavlink()
{
bool success = false;
char mavlink_mode_string[3];
snprintf(mavlink_mode_string, sizeof(mavlink_mode_string), "%ld", _usb_mav_mode.get());
static const char *argv[] {"mavlink", "start", "-d", USB_DEVICE_PATH, "-m", mavlink_mode_string, nullptr};
if (execute_process((char **)argv) > 0) {
success = true;
}
return success;
}
bool CdcAcmAutostart::start_nsh()
{
bool success = false;
static const char *argv[] {"nshterm", USB_DEVICE_PATH, nullptr};
if (execute_process((char **)argv) > 0) {
success = true;
}
return success;
}
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
bool CdcAcmAutostart::start_ublox_serial_passthru(speed_t baudrate)
{
bool success = false;
char baudstring[16];
snprintf(baudstring, sizeof(baudstring), "%ld", baudrate);
// Stop the GPS driver first
static const char *gps_argv[] {"gps", "stop", nullptr};
static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", SERIAL_PASSTHRU_UBLOX_DEV, nullptr};
if (execute_process((char **)gps_argv) > 0) {
if (execute_process((char **)passthru_argv) > 0) {
success = true;
}
}
return success;
}
#endif
int CdcAcmAutostart::execute_process(char **argv)
{
int pid = -1;
sched_lock();
pid = exec_builtin(argv[0], argv, nullptr, 0);
sched_unlock();
return pid;
}
int CdcAcmAutostart::task_spawn(int argc, char *argv[])
{
CdcAcmAutostart *instance = new CdcAcmAutostart();
if (!instance) {
PX4_ERR("alloc failed");
return -1;
}
int ret = instance->Start();
if (ret != PX4_OK) {
delete instance;
return ret;
}
_object.store(instance);
_task_id = task_id_is_work_queue;
return ret;
}
void CdcAcmAutostart::UpdateParams(const bool force)
{
if (_parameter_update_sub.updated() || force) {
parameter_update_s param_update;
_parameter_update_sub.copy(&param_update);
ModuleParams::updateParams();
}
}
int CdcAcmAutostart::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int CdcAcmAutostart::print_status()
{
const char *state = "";
const char *protocol = "";
switch (_state) {
case UsbAutoStartState::disconnected:
state = "disconnected";
break;
case UsbAutoStartState::connecting:
state = "connecting";
break;
case UsbAutoStartState::connected:
state = "connected";
break;
case UsbAutoStartState::disconnecting:
state = "disconnecting";
break;
}
switch (_active_protocol) {
case UsbProtocol::none:
protocol = "none";
break;
case UsbProtocol::mavlink:
protocol = "mavlink";
break;
case UsbProtocol::nsh:
protocol = "nsh";
break;
case UsbProtocol::ublox:
protocol = "ublox";
break;
}
PX4_INFO("Running");
PX4_INFO("State: %s", state);
PX4_INFO("Protocol: %s", protocol);
return PX4_OK;
}
int CdcAcmAutostart::print_usage(const char *reason)
{
if (reason) {
printf("%s\n\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This module listens on USB and auto-configures the protocol depending on the bytes received.
The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2
the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
and continue to check for VBUS and start mavlink once it is detected.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("cdcacm_autostart", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
#endif
extern "C" __EXPORT int cdcacm_autostart_main(int argc, char *argv[])
{
#if defined(CONFIG_SYSTEM_CDCACM)
return CdcAcmAutostart::main(argc, argv);
#endif
return 1;
}

124
src/drivers/cdcacm_autostart/cdcacm_autostart.h Normal file
View File

@ -0,0 +1,124 @@
/****************************************************************************
*
* Copyright (c) 2023 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.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_armed.h>
#include <termios.h>
using namespace time_literals;
class CdcAcmAutostart : public ModuleBase<CdcAcmAutostart>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
CdcAcmAutostart();
~CdcAcmAutostart() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase */
int print_status() override;
int Start();
private:
enum class UsbAutoStartState {
disconnected,
connecting,
connected,
disconnecting,
};
enum class UsbProtocol {
none,
mavlink,
nsh,
ublox,
};
void Run() override;
void UpdateParams(const bool force = false);
void run_state_machine();
void state_disconnected();
void state_connecting();
void state_connected();
void state_disconnecting();
bool scan_buffer_for_mavlink_reboot();
bool scan_buffer_for_mavlink_heartbeat();
bool scan_buffer_for_carriage_returns();
bool scan_buffer_for_ublox_bytes();
bool start_mavlink();
bool start_nsh();
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
bool start_ublox_serial_passthru(speed_t baudrate);
#endif
int execute_process(char **argv);
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 500_ms};
UsbAutoStartState _state{UsbAutoStartState::disconnected};
UsbProtocol _active_protocol{UsbProtocol::none};
bool _vbus_present = false;
bool _vbus_present_prev = false;
int _ttyacm_fd = -1;
char _buffer[80] = {};
int _bytes_read = 0;
uint32_t _reschedule_time = 0;
DEFINE_PARAMETERS(
(ParamInt<px4::params::SYS_USB_AUTO>) _sys_usb_auto,
(ParamInt<px4::params::USB_MAV_MODE>) _usb_mav_mode
)
};

68
src/drivers/cdcacm_autostart/cdcacm_autostart_params.c Normal file
View File

@ -0,0 +1,68 @@
/****************************************************************************
*
* Copyright (c) 2024 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.
*
****************************************************************************/
/**
* Enable USB autostart
*
* @value 0 Disabled
* @value 1 Auto-detect
* @value 2 MAVLink
*
* @reboot_required true
*
* @group CDCACM
*/
PARAM_DEFINE_INT32(SYS_USB_AUTO, 2);
/**
* Specify USB MAVLink mode
*
* @value 0 normal
* @value 1 custom
* @value 2 onboard
* @value 3 osd
* @value 4 magic
* @value 5 config
* @value 6 iridium
* @value 7 minimal
* @value 8 extvision
* @value 9 extvisionmin
* @value 10 gimbal
* @value 11 onboard_low_bandwidth
* @value 12 uavionix
*
* @reboot_required true
*
* @group CDCACM
*/
PARAM_DEFINE_INT32(USB_MAV_MODE, 2);

24
src/modules/mavlink/mavlink_main.cpp
View File

@ -2094,11 +2094,6 @@ Mavlink::task_main(int argc, char *argv[])
/* USB has no baudrate, but use a magic number for 'fast' */
_baudrate = 2000000;
if (_mode == MAVLINK_MODE_COUNT) {
_mode = MAVLINK_MODE_CONFIG;
}
_ftp_on = true;
_is_usb_uart = true;
@ -2223,13 +2218,26 @@ Mavlink::task_main(int argc, char *argv[])
/* open the UART device after setting the instance, as it might block */
if (get_protocol() == Protocol::SERIAL) {
_uart_fd = mavlink_open_uart(_baudrate, _device_name, _flow_control);
if (_uart_fd < 0) {
PX4_ERR("could not open %s", _device_name);
// NOTE: we attempt to open the port multiple times due to sercon returning before
// the port is ready to be opened. This avoids needing to sleep() after sercon_main.
int attempts = 0;
static const int max_attempts = 3;
while (_uart_fd < 0) {
_uart_fd = mavlink_open_uart(_baudrate, _device_name, _flow_control);
attempts++;
if (_uart_fd < 0 && attempts < max_attempts) {
PX4_ERR("could not open %s, retrying", _device_name);
px4_usleep(1_s);
} else if (_uart_fd < 0) {
PX4_ERR("failed to open %s after %d attempts, exiting!", _device_name, attempts);
return PX4_ERROR;
}
}
}
#if defined(MAVLINK_UDP)

2
src/systemcmds/serial_passthru/Kconfig
View File

@ -11,7 +11,7 @@ config SERIAL_PASSTHRU_UBLOX
bool "Detect and Auto Connect on U-Center messages"
default n
---help---
This option will enable the cdc_acm_check to launch
This option will enable the cdcacm_autostart to launch
The passthru driver.
#