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AP_HAL_ChibiOS: support uartI, allowing a total of 9 uarts

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this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
This commit is contained in:
Andrew Tridgell 2020-11-26 17:48:59 +11:00
parent 52b8b95a72
commit 4d171ec19a
5 changed files with 12 additions and 9 deletions
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3
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -45,6 +45,7 @@ static HAL_UARTE_DRIVER;
static HAL_UARTF_DRIVER;
static HAL_UARTG_DRIVER;
static HAL_UARTH_DRIVER;
static HAL_UARTI_DRIVER;
#else
static Empty::UARTDriver uartADriver;
static Empty::UARTDriver uartBDriver;
@ -54,6 +55,7 @@ static Empty::UARTDriver uartEDriver;
static Empty::UARTDriver uartFDriver;
static Empty::UARTDriver uartGDriver;
static Empty::UARTDriver uartHDriver;
static Empty::UARTDriver uartIDriver;
#endif
#if HAL_USE_I2C == TRUE && defined(HAL_I2C_DEVICE_LIST)
@ -124,6 +126,7 @@ HAL_ChibiOS::HAL_ChibiOS() :
&uartFDriver,
&uartGDriver,
&uartHDriver,
&uartIDriver,
&i2cDeviceManager,
&spiDeviceManager,
&analogIn,

4
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -25,8 +25,8 @@
#define RX_BOUNCE_BUFSIZE 64U
#define TX_BOUNCE_BUFSIZE 64U
// enough for uartA to uartH, plus IOMCU
#define UART_MAX_DRIVERS 9
// enough for uartA to uartI, plus IOMCU
#define UART_MAX_DRIVERS 10
class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
public:

6
libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
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@ -23,7 +23,7 @@ define CH_CFG_ST_RESOLUTION 16
I2C_ORDER I2C2 I2C1
# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 UART5
# tonealarm support
PB9 TIM11_CH1 TIM11 GPIO(32) ALARM
@ -108,8 +108,8 @@ PD8 USART3_TX USART3 NODMA
PD1 UART4_TX UART4 NODMA
PD0 UART4_RX UART4 NODMA
# UART5 (RX only, for ESC telem), disabled for now until we add uartH support
# PB8 UART5_RX UART5 NODMA
# UART5 (RX only, for ESC telem)
PB8 UART5_RX UART5 NODMA
# USART6 (RC input), SERIAL7
PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW

2
libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
View File

@ -97,7 +97,7 @@ define HAL_GPIO_B_LED_PIN 90
define HAL_GPIO_LED_OFF 1
# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 OTG2
# USART1 (telem2)
PA10 USART1_RX USART1

6
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -1154,7 +1154,7 @@ def write_UART_config(f):
f.write('\n// UART configuration\n')
# write out driver declarations for HAL_ChibOS_Class.cpp
devnames = "ABCDEFGH"
devnames = "ABCDEFGHI"
sdev = 0
idx = 0
num_empty_uarts = 0
@ -1262,8 +1262,8 @@ def write_UART_config(f):
num_uarts = len(devlist)
if 'IOMCU_UART' in config:
num_uarts -= 1
if num_uarts > 8:
error("Exceeded max num UARTs of 8 (%u)" % num_uarts)
if num_uarts > 9:
error("Exceeded max num UARTs of 9 (%u)" % num_uarts)
f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % (num_uarts+num_empty_uarts))