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AP_HAL_F4Light: support for UART timestamp API

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night-ghost 2018-05-16 15:55:18 +05:00 committed by Francisco Ferreira
parent 7f6b994bc1
commit 0be12dd471
2 changed files with 31 additions and 0 deletions
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23
libraries/AP_HAL_F4Light/UARTDriver.cpp
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@ -49,6 +49,8 @@ void UARTDriver::begin(uint32_t baud, uint32_t bmode) {
if(_initialized && hal_param_helper->_uart_sbus && _usart_device==UARTS[hal_param_helper->_uart_sbus]) return; //already used as SBUS
#endif
_baudrate = baud;
uint32_t mode=0;
if(_usart_device->tx_pin < BOARD_NR_GPIO_PINS){
@ -74,6 +76,8 @@ void UARTDriver::begin(uint32_t baud, uint32_t bmode) {
UART_Word_8b, bmode & 0xffff /*USART_StopBits_1*/ , (bmode>>16) & 0xffff /* USART_Parity_No*/, mode, UART_HardwareFlowControl_None);
usart_enable(_usart_device);
usart_set_callback(_usart_device, Scheduler::get_handler(FUNCTOR_BIND_MEMBER(&UARTDriver::update_timestamp, void)) );
_initialized = true;
}
@ -139,4 +143,23 @@ size_t UARTDriver::write(const uint8_t *buffer, size_t size)
return sent;
}
void UARTDriver::update_timestamp(){ // called from ISR
_time_idx ^= 1;
_receive_timestamp[_time_idx] = AP_HAL::micros();
}
// this is mostly a
uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes) const {
// timestamp is 32 bits so read is atomic, in worst case we get 2nd timestamp
uint32_t time_from_last_byte = AP_HAL::micros() - _receive_timestamp[_time_idx];
uint32_t transport_time_us = 0;
if (_baudrate > 0) {
// assume 10 bits per byte
transport_time_us = (1000000UL * 10UL / _baudrate) * nbytes;
}
return AP_HAL::micros64() - (time_from_last_byte + transport_time_us);
}
#endif // CONFIG_HAL_BOARD

8
libraries/AP_HAL_F4Light/UARTDriver.h
View File

@ -53,10 +53,18 @@ public:
inline void disable(){ _usart_device = NULL; } // pins used for another needs
uint64_t receive_time_constraint_us(uint16_t nbytes) const override;
void update_timestamp();
private:
const struct usart_dev *_usart_device;
bool _initialized;
bool _blocking;
uint32_t _baudrate;
uint32_t _receive_timestamp[2];
uint8_t _time_idx;
};