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Enabled 921600 and other high baud rates on all platforms

QGC4.4
LM 13 years ago
parent
69c9cb1f48
commit
5348f704f4
6 changed files with 118 additions and 120 deletions
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  1. 6
      src/comm/MAVLinkProtocol.cc
  2. 206
      src/comm/SerialLink.cc
  3. 4
      src/uas/UAS.cc
  4. 2
      src/ui/HUD.cc
  5. 18
      src/ui/SerialConfigurationWindow.cc
  6. 2
      thirdParty/qserialport/src/posix/termioshelper.cpp

6
src/comm/MAVLinkProtocol.cc
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@ -190,16 +190,18 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
static int mavlink09Count = 0; static int mavlink09Count = 0;
static bool decodedFirstPacket = false; static bool decodedFirstPacket = false;
static bool warnedUser = false;
for (int position = 0; position < b.size(); position++) { for (int position = 0; position < b.size(); position++) {
unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b[position]), &message, &status); unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b[position]), &message, &status);
if ((uint8_t)b[position] == 0x55) mavlink09Count++; if ((uint8_t)b[position] == 0x55) mavlink09Count++;
if ((mavlink09Count > 100) && !decodedFirstPacket) if ((mavlink09Count > 100) && !decodedFirstPacket && !warnedUser)
{ {
warnedUser = true;
// Obviously the user tries to use a 0.9 autopilot // Obviously the user tries to use a 0.9 autopilot
// with QGroundControl built for version 1.0 // with QGroundControl built for version 1.0
emit protocolStatusMessage("MAVLink Version Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot."); emit protocolStatusMessage("MAVLink Version or Baud Rate Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot. If your autopilot is using version 1.0, check if the baud rates of QGroundControl and your autopilot are the same.");
} }
if (decodeState == 1) if (decodeState == 1)

206
src/comm/SerialLink.cc
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@ -174,9 +174,9 @@ static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPat
// incoming calls, e.g. a fax listener. // incoming calls, e.g. a fax listener.
bsdPathAsCFString = IORegistryEntryCreateCFProperty(modemService, bsdPathAsCFString = IORegistryEntryCreateCFProperty(modemService,
CFSTR(kIOCalloutDeviceKey), CFSTR(kIOCalloutDeviceKey),
kCFAllocatorDefault, kCFAllocatorDefault,
0); 0);
if (bsdPathAsCFString) { if (bsdPathAsCFString) {
Boolean result; Boolean result;
@ -213,7 +213,7 @@ SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl,
int dataBits, int stopBits) : int dataBits, int stopBits) :
port(NULL), port(NULL),
ports(new QVector<QString>()), ports(new QVector<QString>()),
m_stopp(false) m_stopp(false)
{ {
// Setup settings // Setup settings
this->porthandle = portname.trimmed(); this->porthandle = portname.trimmed();
@ -395,14 +395,14 @@ void SerialLink::run()
// Qt way to make clear what a while(1) loop does // Qt way to make clear what a while(1) loop does
forever forever
{ {
{ {
QMutexLocker locker(&this->m_stoppMutex); QMutexLocker locker(&this->m_stoppMutex);
if(this->m_stopp) if(this->m_stopp)
{ {
this->m_stopp = false; this->m_stopp = false;
break; break;
} }
} }
// Check if new bytes have arrived, if yes, emit the notification signal // Check if new bytes have arrived, if yes, emit the notification signal
checkForBytes(); checkForBytes();
/* Serial data isn't arriving that fast normally, this saves the thread /* Serial data isn't arriving that fast normally, this saves the thread
@ -410,13 +410,13 @@ void SerialLink::run()
*/ */
MG::SLEEP::msleep(SerialLink::poll_interval); MG::SLEEP::msleep(SerialLink::poll_interval);
} }
if (port) { if (port) {
port->flushInBuffer(); port->flushInBuffer();
port->flushOutBuffer(); port->flushOutBuffer();
port->close(); port->close();
delete port; delete port;
port = NULL; port = NULL;
} }
} }
@ -449,18 +449,18 @@ void SerialLink::writeBytes(const char* data, qint64 size)
if (b > 0) { if (b > 0) {
// qDebug() << "Serial link " << this->getName() << "transmitted" << b << "bytes:"; // qDebug() << "Serial link " << this->getName() << "transmitted" << b << "bytes:";
// Increase write counter // Increase write counter
bitsSentTotal += size * 8; bitsSentTotal += size * 8;
// int i; // int i;
// for (i=0; i<size; i++) // for (i=0; i<size; i++)
// { // {
// unsigned char v =data[i]; // unsigned char v =data[i];
// qDebug("%02x ", v); // qDebug("%02x ", v);
// } // }
// qDebug("\n"); // qDebug("\n");
} else { } else {
disconnect(); disconnect();
// Error occured // Error occured
@ -528,33 +528,33 @@ qint64 SerialLink::bytesAvailable()
**/ **/
bool SerialLink::disconnect() bool SerialLink::disconnect()
{ {
if(this->isRunning()) if(this->isRunning())
{ {
{ {
QMutexLocker locker(&this->m_stoppMutex); QMutexLocker locker(&this->m_stoppMutex);
this->m_stopp = true; this->m_stopp = true;
} }
this->wait(); this->wait();
// if (port) { // if (port) {
//#if !defined _WIN32 || !defined _WIN64 //#if !defined _WIN32 || !defined _WIN64
/* Block the thread until it returns from run() */ /* Block the thread until it returns from run() */
//#endif //#endif
// port->flushInBuffer(); // port->flushInBuffer();
// port->flushOutBuffer(); // port->flushOutBuffer();
// port->close(); // port->close();
// delete port; // delete port;
// port = NULL; // port = NULL;
// if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect // if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
bool closed = true; bool closed = true;
//port->isOpen(); //port->isOpen();
emit disconnected(); emit disconnected();
emit connected(false); emit connected(false);
return closed; return closed;
} }
else { else {
// No port, so we're disconnected // No port, so we're disconnected
return true; return true;
@ -570,10 +570,10 @@ bool SerialLink::disconnect()
bool SerialLink::connect() bool SerialLink::connect()
{ {
if (this->isRunning()) this->disconnect(); if (this->isRunning()) this->disconnect();
{ {
QMutexLocker locker(&this->m_stoppMutex); QMutexLocker locker(&this->m_stoppMutex);
this->m_stopp = false; this->m_stopp = false;
} }
this->start(LowPriority); this->start(LowPriority);
return true; return true;
} }
@ -654,7 +654,7 @@ qint64 SerialLink::getNominalDataRate()
qint64 dataRate = 0; qint64 dataRate = 0;
switch (portSettings.baudRate()) { switch (portSettings.baudRate()) {
// Baud rates supported only by POSIX systems // Baud rates supported only by POSIX systems
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN) #if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
case QPortSettings::BAUDR_50: case QPortSettings::BAUDR_50:
dataRate = 50; dataRate = 50;
@ -676,26 +676,7 @@ qint64 SerialLink::getNominalDataRate()
break; break;
#endif #endif
// Baud rates supported only by Linux // Baud rates supported only by Windows
#ifdef Q_OS_LINUX
case QPortSettings::BAUDR_230400:
dataRate = 230400;
break;
case QPortSettings::BAUDR_460800:
dataRate = 460800;
break;
case QPortSettings::BAUDR_500000:
dataRate = 500000;
break;
case QPortSettings::BAUDR_576000:
dataRate = 576000;
break;
case QPortSettings::BAUDR_921600:
dataRate = 921600;
break;
#endif
// Baud rates supported only by Windows
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE) #if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
case QPortSettings::BAUDR_14400: case QPortSettings::BAUDR_14400:
dataRate = 14400; dataRate = 14400;
@ -743,8 +724,23 @@ qint64 SerialLink::getNominalDataRate()
case QPortSettings::BAUDR_115200: case QPortSettings::BAUDR_115200:
dataRate = 115200; dataRate = 115200;
break; break;
case QPortSettings::BAUDR_230400:
dataRate = 230400;
break;
case QPortSettings::BAUDR_460800:
dataRate = 460800;
break;
case QPortSettings::BAUDR_500000:
dataRate = 500000;
break;
case QPortSettings::BAUDR_576000:
dataRate = 576000;
break;
case QPortSettings::BAUDR_921600:
dataRate = 921600;
break;
// Otherwise do nothing. // Otherwise do nothing.
case QPortSettings::BAUDR_UNKNOWN: case QPortSettings::BAUDR_UNKNOWN:
default: default:
break; break;
@ -869,17 +865,17 @@ int SerialLink::getDataBits()
int SerialLink::getStopBits() int SerialLink::getStopBits()
{ {
int ret = -1; int ret = -1;
switch (portSettings.stopBits()) { switch (portSettings.stopBits()) {
case QPortSettings::STOP_1: case QPortSettings::STOP_1:
ret = 1; ret = 1;
break; break;
case QPortSettings::STOP_2: case QPortSettings::STOP_2:
ret = 2; ret = 2;
break; break;
default: default:
ret = -1; ret = -1;
break; break;
} }
return ret; return ret;
} }
@ -916,16 +912,16 @@ bool SerialLink::setBaudRateType(int rateIndex)
if(isConnected()) reconnect = true; if(isConnected()) reconnect = true;
disconnect(); disconnect();
// These minimum and maximum baud rates were based on those enumerated in qportsettings.h. // These minimum and maximum baud rates were based on those enumerated in qportsettings.h.
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE) #if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
const int minBaud = (int)QPortSettings::BAUDR_110; const int minBaud = (int)QPortSettings::BAUDR_110;
const int maxBaud = (int)QPortSettings::BAUDR_256000; const int maxBaud = (int)QPortSettings::BAUDR_256000;
#elif defined(Q_OS_LINUX) #elif defined(Q_OS_LINUX)
const int minBaud = (int)QPortSettings::BAUDR_50; const int minBaud = (int)QPortSettings::BAUDR_50;
const int maxBaud = (int)QPortSettings::BAUDR_921600; const int maxBaud = (int)QPortSettings::BAUDR_921600;
#elif defined(Q_OS_UNIX) || defined(Q_OS_DARWIN) #elif defined(Q_OS_UNIX) || defined(Q_OS_DARWIN)
const int minBaud = (int)QPortSettings::BAUDR_50; const int minBaud = (int)QPortSettings::BAUDR_50;
const int maxBaud = (int)QPortSettings::BAUDR_115200; const int maxBaud = (int)QPortSettings::BAUDR_115200;
#endif #endif
if (rateIndex >= minBaud && rateIndex <= maxBaud) if (rateIndex >= minBaud && rateIndex <= maxBaud)
@ -953,11 +949,11 @@ bool SerialLink::setBaudRate(int rate)
reconnect = true; reconnect = true;
} }
disconnect(); disconnect();
// This switch-statment relies on the mapping given in qportsettings.h from the QSerialPort library. // This switch-statment relies on the mapping given in qportsettings.h from the QSerialPort library.
switch (rate) { switch (rate) {
// Baud rates supported only by non-Windows systems // Baud rates supported only by non-Windows systems
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN) #if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
case 50: case 50:
portSettings.setBaudRate(QPortSettings::BAUDR_50); portSettings.setBaudRate(QPortSettings::BAUDR_50);
@ -979,26 +975,7 @@ bool SerialLink::setBaudRate(int rate)
break; break;
#endif #endif
// Supported only by Linux // Baud rates supported only by windows
#ifdef Q_OS_LINUX
case 230400:
portSettings.setBaudRate(QPortSettings::BAUDR_230400);
break;
case 460800:
portSettings.setBaudRate(QPortSettings::BAUDR_460800);
break;
case 500000:
portSettings.setBaudRate(QPortSettings::BAUDR_500000);
break;
case 576000:
portSettings.setBaudRate(QPortSettings::BAUDR_576000);
break;
case 921600:
portSettings.setBaudRate(QPortSettings::BAUDR_921600);
break;
#endif
// Baud rates supported only by windows
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE) #if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
case 14400: case 14400:
portSettings.setBaudRate(QPortSettings::BAUDR_14400); portSettings.setBaudRate(QPortSettings::BAUDR_14400);
@ -1014,7 +991,7 @@ bool SerialLink::setBaudRate(int rate)
break; break;
#endif #endif
// Supported by all OSes: // Supported by all OSes:
case 110: case 110:
portSettings.setBaudRate(QPortSettings::BAUDR_110); portSettings.setBaudRate(QPortSettings::BAUDR_110);
break; break;
@ -1048,6 +1025,21 @@ bool SerialLink::setBaudRate(int rate)
case 115200: case 115200:
portSettings.setBaudRate(QPortSettings::BAUDR_115200); portSettings.setBaudRate(QPortSettings::BAUDR_115200);
break; break;
case 230400:
portSettings.setBaudRate(QPortSettings::BAUDR_230400);
break;
case 460800:
portSettings.setBaudRate(QPortSettings::BAUDR_460800);
break;
case 500000:
portSettings.setBaudRate(QPortSettings::BAUDR_500000);
break;
case 576000:
portSettings.setBaudRate(QPortSettings::BAUDR_576000);
break;
case 921600:
portSettings.setBaudRate(QPortSettings::BAUDR_921600);
break;
default: default:
// If none of the above cases matches, there must be an error // If none of the above cases matches, there must be an error
accepted = false; accepted = false;

4
src/uas/UAS.cc
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@ -984,7 +984,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// Restart statemachine // Restart statemachine
imagePacketsArrived = 0; imagePacketsArrived = 0;
emit imageReady(this); emit imageReady(this);
qDebug() << "imageReady emitted. all packets arrived"; //qDebug() << "imageReady emitted. all packets arrived";
} }
} }
break; break;
@ -1632,7 +1632,7 @@ QImage UAS::getImage()
{ {
#ifdef MAVLINK_ENABLED_PIXHAWK #ifdef MAVLINK_ENABLED_PIXHAWK
qDebug() << "IMAGE TYPE:" << imageType; // qDebug() << "IMAGE TYPE:" << imageType;
// RAW greyscale // RAW greyscale
if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U) if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)

2
src/ui/HUD.cc
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@ -1465,7 +1465,7 @@ void HUD::copyImage()
{ {
if (isVisible()) if (isVisible())
{ {
qDebug() << "HUD::copyImage()"; //qDebug() << "HUD::copyImage()";
UAS* u = dynamic_cast<UAS*>(this->uas); UAS* u = dynamic_cast<UAS*>(this->uas);
if (u) if (u)
{ {

18
src/ui/SerialConfigurationWindow.cc
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@ -73,14 +73,6 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
supportedBaudRates << 200; supportedBaudRates << 200;
supportedBaudRates << 1800; supportedBaudRates << 1800;
#endif #endif
// Baud rates supported only by Linux
#if defined(Q_OS_LINUX)
supportedBaudRates << 230400;
supportedBaudRates << 460800;
supportedBaudRates << 500000;
supportedBaudRates << 576000;
supportedBaudRates << 921600;
#endif
// Baud rates supported only by Windows // Baud rates supported only by Windows
#if defined(Q_OS_WIN) #if defined(Q_OS_WIN)
@ -102,6 +94,16 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
supportedBaudRates << 38400; supportedBaudRates << 38400;
supportedBaudRates << 57600; supportedBaudRates << 57600;
supportedBaudRates << 115200; supportedBaudRates << 115200;
supportedBaudRates << 230400;
supportedBaudRates << 460800;
#if defined(Q_OS_LINUX)
// Baud rates supported only by Linux
supportedBaudRates << 500000;
supportedBaudRates << 576000;
#endif
supportedBaudRates << 921600;
// Now actually add all of our supported baud rates to the UI. // Now actually add all of our supported baud rates to the UI.
qSort(supportedBaudRates.begin(), supportedBaudRates.end()); qSort(supportedBaudRates.begin(), supportedBaudRates.end());

2
thirdParty/qserialport/src/posix/termioshelper.cpp vendored
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@ -327,6 +327,8 @@ void TermiosHelper::setBaudRate(QPortSettings::BaudRate baudRate)
// } // }
//#else //#else
qCritical() << "Baud rate is now: " << baud;
if ( cfsetspeed(currentAttrs_, baud) == -1 ) { if ( cfsetspeed(currentAttrs_, baud) == -1 ) {
qCritical() << QString("TermiosHelper::setBaudRate(file: %1) failed: %2(%3)") qCritical() << QString("TermiosHelper::setBaudRate(file: %1) failed: %2(%3)")
.arg(fileDescriptor_) .arg(fileDescriptor_)

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