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Merge pull request #4032 from AlessioMorale/amorale/LP_support 

Improve USB Interface detection reliability and support for LibrePilot compatible USB IDs
QGC4.4
Don Gagne 9 years ago committed by GitHub
parent
27b3164e12 43e3af27f4
commit
6d8385ed66
8 changed files with 143 additions and 38 deletions
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  1. 79
      android/src/com/hoho/android/usbserial/driver/CdcAcmSerialDriver.java
  2. 6
      android/src/com/hoho/android/usbserial/driver/UsbId.java
  3. 39
      src/comm/LinkManager.cc
  4. 28
      src/comm/LinkManager.h
  5. 15
      src/comm/QGCSerialPortInfo.cc
  6. 7
      src/comm/QGCSerialPortInfo.h
  7. 2
      src/comm/SerialLink.cc
  8. 5
      src/ui/preferences/GeneralSettings.qml

79
android/src/com/hoho/android/usbserial/driver/CdcAcmSerialDriver.java
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@ -47,31 +47,75 @@ public class CdcAcmSerialDriver extends CommonUsbSerialDriver { @@ -47,31 +47,75 @@ public class CdcAcmSerialDriver extends CommonUsbSerialDriver {
@Override
public void open() throws IOException {
Log.d(TAG, "claiming interfaces, count=" + mDevice.getInterfaceCount());
Log.d(TAG, "device " + mDevice);
mControlInterface = null;
mDataInterface = null;
mWriteEndpoint = null;
mReadEndpoint = null;
// locate all needed interfaces
for(int i = 0; i < mDevice.getInterfaceCount();i++){
UsbInterface iface = mDevice.getInterface(i);
switch(iface.getInterfaceClass()){
case UsbConstants.USB_CLASS_COMM:
mControlInterface = iface;
Log.d(TAG, "control iface=" + iface);
break;
case UsbConstants.USB_CLASS_CDC_DATA:
mDataInterface = iface;
Log.d(TAG, "data iface=" + iface);
break;
default:
Log.d(TAG, "skipping iface=" + iface);
break;
}
}
Log.d(TAG, "Claiming control interface.");
mControlInterface = mDevice.getInterface(0);
Log.d(TAG, "Control iface=" + mControlInterface);
// class should be USB_CLASS_COMM
// failback to the old way
if(mControlInterface == null) {
mControlInterface = mDevice.getInterface(0);
Log.d(TAG, "Failback: Control iface=" + mControlInterface);
}
if (!mConnection.claimInterface(mControlInterface, true)) {
throw new IOException("Could not claim control interface.");
}
mControlEndpoint = mControlInterface.getEndpoint(0);
Log.d(TAG, "Control endpoint direction: " + mControlEndpoint.getDirection());
Log.d(TAG, "Control endpoint: " + mControlEndpoint);
Log.d(TAG, "Claiming data interface.");
mDataInterface = mDevice.getInterface(1);
Log.d(TAG, "data iface=" + mDataInterface);
// class should be USB_CLASS_CDC_DATA
if(mDataInterface == null) {
mDataInterface = mDevice.getInterface(1);
Log.d(TAG, "Failback: data iface=" + mDataInterface);
}
if (!mConnection.claimInterface(mDataInterface, true)) {
throw new IOException("Could not claim data interface.");
}
mReadEndpoint = mDataInterface.getEndpoint(1);
Log.d(TAG, "Read endpoint direction: " + mReadEndpoint.getDirection());
mWriteEndpoint = mDataInterface.getEndpoint(0);
Log.d(TAG, "Write endpoint direction: " + mWriteEndpoint.getDirection());
for(int i = 0; i < mDataInterface.getEndpointCount(); i++) {
UsbEndpoint endpoint = mDataInterface.getEndpoint(i);
switch (endpoint.getDirection()) {
case UsbConstants.USB_DIR_OUT:
mWriteEndpoint = endpoint;
Log.d(TAG, "Write endpoint: " + mWriteEndpoint);
break;
case UsbConstants.USB_DIR_IN:
mReadEndpoint = endpoint;
Log.d(TAG, "Read endpoint: " + mReadEndpoint);
break;
}
}
if(mReadEndpoint == null || mWriteEndpoint == null){
// failback to the old method
mReadEndpoint = mDataInterface.getEndpoint(0);
Log.d(TAG, "Read endpoint direction: " + mReadEndpoint.getDirection());
mWriteEndpoint = mDataInterface.getEndpoint(1);
Log.d(TAG, "Write endpoint direction: " + mWriteEndpoint.getDirection());
}
}
private int sendAcmControlMessage(int request, int value, byte[] buf) {
@ -253,6 +297,13 @@ public class CdcAcmSerialDriver extends CommonUsbSerialDriver { @@ -253,6 +297,13 @@ public class CdcAcmSerialDriver extends CommonUsbSerialDriver {
UsbId.DEVICE_UBLOX_7,
UsbId.DEVICE_UBLOX_8,
});
supportedDevices.put(Integer.valueOf(UsbId.VENDOR_OPENPILOT),
new int[] {
UsbId.DEVICE_CC3D,
UsbId.DEVICE_REVOLUTION,
UsbId.DEVICE_SPARKY2,
UsbId.DEVICE_OPLINK,
});
return supportedDevices;
}

6
android/src/com/hoho/android/usbserial/driver/UsbId.java
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@ -68,6 +68,12 @@ public final class UsbId { @@ -68,6 +68,12 @@ public final class UsbId {
public static final int DEVICE_UBLOX_7 = 0x01a7;
public static final int DEVICE_UBLOX_8 = 0x01a8;
public static final int VENDOR_OPENPILOT = 0x20A0;
public static final int DEVICE_REVOLUTION = 0x415E;
public static final int DEVICE_OPLINK = 0x415C;
public static final int DEVICE_SPARKY2 = 0x41D0;
public static final int DEVICE_CC3D = 0x415D;
private UsbId() {
throw new IllegalAccessError("Non-instantiable class.");
}

39
src/comm/LinkManager.cc
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@ -40,13 +40,14 @@ @@ -40,13 +40,14 @@
QGC_LOGGING_CATEGORY(LinkManagerLog, "LinkManagerLog")
QGC_LOGGING_CATEGORY(LinkManagerVerboseLog, "LinkManagerVerboseLog")
const char* LinkManager::_settingsGroup = "LinkManager";
const char* LinkManager::_autoconnectUDPKey = "AutoconnectUDP";
const char* LinkManager::_autoconnectPixhawkKey = "AutoconnectPixhawk";
const char* LinkManager::_autoconnect3DRRadioKey = "Autoconnect3DRRadio";
const char* LinkManager::_autoconnectPX4FlowKey = "AutoconnectPX4Flow";
const char* LinkManager::_autoconnectRTKGPSKey = "AutoconnectRTKGPS";
const char* LinkManager::_defaultUPDLinkName = "Default UDP Link";
const char* LinkManager::_settingsGroup = "LinkManager";
const char* LinkManager::_autoconnectUDPKey = "AutoconnectUDP";
const char* LinkManager::_autoconnectPixhawkKey = "AutoconnectPixhawk";
const char* LinkManager::_autoconnect3DRRadioKey = "Autoconnect3DRRadio";
const char* LinkManager::_autoconnectPX4FlowKey = "AutoconnectPX4Flow";
const char* LinkManager::_autoconnectRTKGPSKey = "AutoconnectRTKGPS";
const char* LinkManager::_autoconnectLibrePilotKey = "AutoconnectLibrePilot";
const char* LinkManager::_defaultUPDLinkName = "Default UDP Link";
const int LinkManager::_autoconnectUpdateTimerMSecs = 1000;
#ifdef Q_OS_WIN
@ -68,6 +69,7 @@ LinkManager::LinkManager(QGCApplication* app) @@ -68,6 +69,7 @@ LinkManager::LinkManager(QGCApplication* app)
, _autoconnect3DRRadio(true)
, _autoconnectPX4Flow(true)
, _autoconnectRTKGPS(true)
, _autoconnectLibrePilot(true)
{
qmlRegisterUncreatableType<LinkManager> ("QGroundControl", 1, 0, "LinkManager", "Reference only");
qmlRegisterUncreatableType<LinkConfiguration> ("QGroundControl", 1, 0, "LinkConfiguration", "Reference only");
@ -76,11 +78,12 @@ LinkManager::LinkManager(QGCApplication* app) @@ -76,11 +78,12 @@ LinkManager::LinkManager(QGCApplication* app)
QSettings settings;
settings.beginGroup(_settingsGroup);
_autoconnectUDP = settings.value(_autoconnectUDPKey, true).toBool();
_autoconnectPixhawk = settings.value(_autoconnectPixhawkKey, true).toBool();
_autoconnect3DRRadio = settings.value(_autoconnect3DRRadioKey, true).toBool();
_autoconnectPX4Flow = settings.value(_autoconnectPX4FlowKey, true).toBool();
_autoconnectRTKGPS = settings.value(_autoconnectRTKGPSKey, true).toBool();
_autoconnectUDP = settings.value(_autoconnectUDPKey, true).toBool();
_autoconnectPixhawk = settings.value(_autoconnectPixhawkKey, true).toBool();
_autoconnect3DRRadio = settings.value(_autoconnect3DRRadioKey, true).toBool();
_autoconnectPX4Flow = settings.value(_autoconnectPX4FlowKey, true).toBool();
_autoconnectRTKGPS = settings.value(_autoconnectRTKGPSKey, true).toBool();
_autoconnectLibrePilot = settings.value(_autoconnectLibrePilotKey, true).toBool();
#ifndef __ios__
_activeLinkCheckTimer.setInterval(_activeLinkCheckTimeoutMSecs);
@ -564,6 +567,11 @@ void LinkManager::_updateAutoConnectLinks(void) @@ -564,6 +567,11 @@ void LinkManager::_updateAutoConnectLinks(void)
pSerialConfig = new SerialConfiguration(QString("SiK Radio on %1").arg(portInfo.portName().trimmed()));
}
break;
case QGCSerialPortInfo::BoardTypeLibrePilot:
if (_autoconnectLibrePilot) {
pSerialConfig = new SerialConfiguration(QString("LibrePilot on %1").arg(portInfo.portName().trimmed()));
}
break;
#ifndef __mobile__
case QGCSerialPortInfo::BoardTypeRTKGPS:
if (_autoconnectRTKGPS && !_toolbox->gpsManager()->connected()) {
@ -679,6 +687,13 @@ void LinkManager::setAutoconnectRTKGPS(bool autoconnect) @@ -679,6 +687,13 @@ void LinkManager::setAutoconnectRTKGPS(bool autoconnect)
}
}
void LinkManager::setAutoconnectLibrePilot(bool autoconnect)
{
if (_setAutoconnectWorker(_autoconnectLibrePilot, autoconnect, _autoconnectLibrePilotKey)) {
emit autoconnectLibrePilotChanged(autoconnect);
}
}
QStringList LinkManager::linkTypeStrings(void) const
{
//-- Must follow same order as enum LinkType in LinkConfiguration.h

28
src/comm/LinkManager.h
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@ -66,6 +66,7 @@ public: @@ -66,6 +66,7 @@ public:
Q_PROPERTY(bool autoconnect3DRRadio READ autoconnect3DRRadio WRITE setAutoconnect3DRRadio NOTIFY autoconnect3DRRadioChanged)
Q_PROPERTY(bool autoconnectPX4Flow READ autoconnectPX4Flow WRITE setAutoconnectPX4Flow NOTIFY autoconnectPX4FlowChanged)
Q_PROPERTY(bool autoconnectRTKGPS READ autoconnectRTKGPS WRITE setAutoconnectRTKGPS NOTIFY autoconnectRTKGPSChanged)
Q_PROPERTY(bool autoconnectLibrePilot READ autoconnectLibrePilot WRITE setAutoconnectLibrePilot NOTIFY autoconnectLibrePilotChanged)
Q_PROPERTY(bool isBluetoothAvailable READ isBluetoothAvailable CONSTANT)
/// LinkInterface Accessor
@ -96,6 +97,7 @@ public: @@ -96,6 +97,7 @@ public:
bool autoconnect3DRRadio (void) { return _autoconnect3DRRadio; }
bool autoconnectPX4Flow (void) { return _autoconnectPX4Flow; }
bool autoconnectRTKGPS (void) { return _autoconnectRTKGPS; }
bool autoconnectLibrePilot (void) { return _autoconnectLibrePilot; }
bool isBluetoothAvailable (void);
QmlObjectListModel* links (void) { return &_links; }
@ -105,11 +107,12 @@ public: @@ -105,11 +107,12 @@ public:
QStringList serialPortStrings (void);
QStringList serialPorts (void);
void setAutoconnectUDP (bool autoconnect);
void setAutoconnectPixhawk (bool autoconnect);
void setAutoconnect3DRRadio (bool autoconnect);
void setAutoconnectPX4Flow (bool autoconnect);
void setAutoconnectRTKGPS (bool autoconnect);
void setAutoconnectUDP (bool autoconnect);
void setAutoconnectPixhawk (bool autoconnect);
void setAutoconnect3DRRadio (bool autoconnect);
void setAutoconnectPX4Flow (bool autoconnect);
void setAutoconnectRTKGPS (bool autoconnect);
void setAutoconnectLibrePilot (bool autoconnect);
/// Load list of link configurations from disk
void loadLinkConfigurationList();
@ -163,11 +166,13 @@ public: @@ -163,11 +166,13 @@ public:
virtual void setToolbox(QGCToolbox *toolbox);
signals:
void autoconnectUDPChanged (bool autoconnect);
void autoconnectPixhawkChanged (bool autoconnect);
void autoconnect3DRRadioChanged (bool autoconnect);
void autoconnectPX4FlowChanged (bool autoconnect);
void autoconnectRTKGPSChanged (bool autoconnect);
void autoconnectUDPChanged (bool autoconnect);
void autoconnectPixhawkChanged (bool autoconnect);
void autoconnect3DRRadioChanged (bool autoconnect);
void autoconnectPX4FlowChanged (bool autoconnect);
void autoconnectRTKGPSChanged (bool autoconnect);
void autoconnectLibrePilotChanged (bool autoconnect);
void newLink(LinkInterface* link);
@ -231,7 +236,7 @@ private: @@ -231,7 +236,7 @@ private:
bool _autoconnect3DRRadio;
bool _autoconnectPX4Flow;
bool _autoconnectRTKGPS;
bool _autoconnectLibrePilot;
#ifndef __ios__
QTimer _activeLinkCheckTimer; ///< Timer which checks for a vehicle showing up on a usb direct link
QList<SerialLink*> _activeLinkCheckList; ///< List of links we are waiting for a vehicle to show up on
@ -244,6 +249,7 @@ private: @@ -244,6 +249,7 @@ private:
static const char* _autoconnect3DRRadioKey;
static const char* _autoconnectPX4FlowKey;
static const char* _autoconnectRTKGPSKey;
static const char* _autoconnectLibrePilotKey;
static const char* _defaultUPDLinkName;
static const int _autoconnectUpdateTimerMSecs;
static const int _autoconnectConnectDelayMSecs;

15
src/comm/QGCSerialPortInfo.cc
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@ -30,6 +30,10 @@ static const struct VIDPIDMapInfo_s { @@ -30,6 +30,10 @@ static const struct VIDPIDMapInfo_s {
{ QGCSerialPortInfo::threeDRRadioVendorId, QGCSerialPortInfo::threeDRRadioProductId, QGCSerialPortInfo::BoardTypeSikRadio, "Found SiK Radio" },
{ QGCSerialPortInfo::siLabsRadioVendorId, QGCSerialPortInfo::siLabsRadioProductId, QGCSerialPortInfo::BoardTypeSikRadio, "Found SiK Radio" },
{ QGCSerialPortInfo::ubloxRTKVendorId, QGCSerialPortInfo::ubloxRTKProductId, QGCSerialPortInfo::BoardTypeRTKGPS, "Found RTK GPS" },
{ QGCSerialPortInfo::openpilotVendorId, QGCSerialPortInfo::revolutionProductId, QGCSerialPortInfo::BoardTypeLibrePilot, "Found OP Revolution" },
{ QGCSerialPortInfo::openpilotVendorId, QGCSerialPortInfo::oplinkProductId, QGCSerialPortInfo::BoardTypeLibrePilot, "Found OP OPLink" },
{ QGCSerialPortInfo::openpilotVendorId, QGCSerialPortInfo::sparky2ProductId, QGCSerialPortInfo::BoardTypeLibrePilot, "Found TL Sparky2" },
{ QGCSerialPortInfo::openpilotVendorId, QGCSerialPortInfo::CC3DProductId, QGCSerialPortInfo::BoardTypeLibrePilot, "Found OP CC3D" },
};
QGCSerialPortInfo::QGCSerialPortInfo(void) :
@ -135,6 +139,15 @@ bool QGCSerialPortInfo::isBootloader(void) const @@ -135,6 +139,15 @@ bool QGCSerialPortInfo::isBootloader(void) const
bool QGCSerialPortInfo::canFlash(void)
{
BoardType_t boardType = this->boardType();
switch(boardType){
case QGCSerialPortInfo::BoardTypeUnknown:
case QGCSerialPortInfo::BoardTypeRTKGPS:
case QGCSerialPortInfo::BoardTypeLibrePilot:
return false;
default:
return true;
}
return boardType != QGCSerialPortInfo::BoardTypeUnknown && boardType != QGCSerialPortInfo::BoardTypeRTKGPS;
}

7
src/comm/QGCSerialPortInfo.h
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@ -37,6 +37,7 @@ public: @@ -37,6 +37,7 @@ public:
BoardTypeMINDPXFMUV2,
BoardTypeTAPV1,
BoardTypeASCV1,
BoardTypeLibrePilot,
BoardTypeUnknown
} BoardType_t;
@ -66,6 +67,12 @@ public: @@ -66,6 +67,12 @@ public:
static const int ubloxRTKVendorId = 5446; ///< Vendor ID for ublox RTK
static const int ubloxRTKProductId = 424; ///< Product ID for ublox RTK
static const int openpilotVendorId = 0x20A0; ///< Vendor ID for OpenPilot
static const int revolutionProductId = 0x415E; ///< Product ID for OpenPilot Revolution
static const int oplinkProductId = 0x415C; ///< Product ID for OpenPilot OPLink
static const int sparky2ProductId = 0x41D0; ///< Product ID for Taulabs Sparky2
static const int CC3DProductId = 0x415D; ///< Product ID for OpenPilot CC3D
QGCSerialPortInfo(void);
QGCSerialPortInfo(const QSerialPort & port);

2
src/comm/SerialLink.cc
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@ -216,6 +216,8 @@ bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString& @@ -216,6 +216,8 @@ bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString&
return false; // couldn't open serial port
}
_port->setDataTerminalReady(true);
qCDebug(SerialLinkLog) << "Configuring port";
_port->setBaudRate (_config->baud());
_port->setDataBits (static_cast<QSerialPort::DataBits> (_config->dataBits()));

5
src/ui/preferences/GeneralSettings.qml
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@ -472,6 +472,11 @@ QGCView { @@ -472,6 +472,11 @@ QGCView {
onClicked: QGroundControl.linkManager.autoconnectPX4Flow = checked
}
QGCCheckBox {
text: qsTr("LibrePilot")
checked: QGroundControl.linkManager.autoconnectLibrePilot
onClicked: QGroundControl.linkManager.autoconnectLibrePilot = checked
}
QGCCheckBox {
text: qsTr("UDP")
checked: QGroundControl.linkManager.autoconnectUDP
onClicked: QGroundControl.linkManager.autoconnectUDP = checked

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