mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.8 KiB
C
101 lines
2.8 KiB
C
|
/*
|
||
|
|
* This file is free software: you can redistribute it and/or modify it
|
||
|
|
* under the terms of the GNU General Public License as published by the
|
||
|
|
* Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This file is distributed in the hope that it will be useful, but
|
||
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||
|
|
* See the GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along
|
||
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*
|
||
|
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit
|
||
|
|
*/
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <AP_HAL/utility/RingBuffer.h>
|
||
|
|
|
||
|
|
#include "AP_HAL_ChibiOS.h"
|
||
|
|
#include "shared_dma.h"
|
||
|
|
|
||
|
|
#define RX_BOUNCE_BUFSIZE 128
|
||
|
|
#define TX_BOUNCE_BUFSIZE 64
|
||
|
|
|
||
|
|
class ChibiOS::ChibiUARTDriver : public AP_HAL::UARTDriver {
|
||
|
|
public:
|
||
|
|
ChibiUARTDriver(uint8_t serial_num);
|
||
|
|
|
||
|
|
void begin(uint32_t b);
|
||
|
|
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
|
||
|
|
void end();
|
||
|
|
void flush();
|
||
|
|
bool is_initialized();
|
||
|
|
void set_blocking_writes(bool blocking);
|
||
|
|
bool tx_pending();
|
||
|
|
|
||
|
|
|
||
|
|
uint32_t available() override;
|
||
|
|
uint32_t txspace() override;
|
||
|
|
int16_t read() override;
|
||
|
|
void _timer_tick(void);
|
||
|
|
|
||
|
|
|
||
|
|
size_t write(uint8_t c);
|
||
|
|
size_t write(const uint8_t *buffer, size_t size);
|
||
|
|
struct SerialDef {
|
||
|
|
BaseSequentialStream* serial;
|
||
|
|
bool is_usb;
|
||
|
|
bool dma_rx;
|
||
|
|
uint8_t dma_rx_stream_id;
|
||
|
|
uint32_t dma_rx_channel_id;
|
||
|
|
bool dma_tx;
|
||
|
|
uint8_t dma_tx_stream_id;
|
||
|
|
uint32_t dma_tx_channel_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
bool wait_timeout(uint16_t n, uint32_t timeout_ms) override;
|
||
|
|
|
||
|
|
private:
|
||
|
|
bool _dma_rx;
|
||
|
|
bool _dma_tx;
|
||
|
|
bool tx_bounce_buf_ready;
|
||
|
|
uint8_t _serial_num;
|
||
|
|
uint32_t _baudrate;
|
||
|
|
uint16_t tx_len;
|
||
|
|
BaseSequentialStream* _serial;
|
||
|
|
SerialConfig sercfg;
|
||
|
|
bool _is_usb;
|
||
|
|
const thread_t* _uart_owner_thd;
|
||
|
|
|
||
|
|
struct {
|
||
|
|
// thread waiting for data
|
||
|
|
thread_t *thread_ctx;
|
||
|
|
// number of bytes needed
|
||
|
|
uint16_t n;
|
||
|
|
} _wait;
|
||
|
|
|
||
|
|
// we use in-task ring buffers to reduce the system call cost
|
||
|
|
// of ::read() and ::write() in the main loop
|
||
|
|
uint8_t rx_bounce_buf[RX_BOUNCE_BUFSIZE];
|
||
|
|
uint8_t tx_bounce_buf[TX_BOUNCE_BUFSIZE];
|
||
|
|
ByteBuffer _readbuf{0};
|
||
|
|
ByteBuffer _writebuf{0};
|
||
|
|
mutex_t _write_mutex;
|
||
|
|
const stm32_dma_stream_t* rxdma;
|
||
|
|
const stm32_dma_stream_t* txdma;
|
||
|
|
bool _in_timer;
|
||
|
|
bool _nonblocking_writes;
|
||
|
|
bool _initialised;
|
||
|
|
bool _lock_rx_in_timer_tick = false;
|
||
|
|
Shared_DMA *dma_handle;
|
||
|
|
static void rx_irq_cb(void* sd);
|
||
|
|
static void rxbuff_full_irq(void* self, uint32_t flags);
|
||
|
|
static void tx_complete(void* self, uint32_t flags);
|
||
|
|
|
||
|
|
void dma_tx_allocate(void);
|
||
|
|
void dma_tx_deallocate(void);
|
||
|
|
};
|