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HAL_ChibiOS: implement uart_info per-uart

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this allows for some UARTs to be of EMPTY type
This commit is contained in:
Andrew Tridgell 2021-06-05 13:51:10 +10:00
parent 23cf128541
commit 6fab8feeae
3 changed files with 32 additions and 26 deletions
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33
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -48,8 +48,6 @@ thread_t* volatile UARTDriver::uart_rx_thread_ctx;
// table to find UARTDrivers from serial number, used for event handling
UARTDriver *UARTDriver::uart_drivers[UART_MAX_DRIVERS];
uint32_t UARTDriver::_last_stats_ms;
// event used to wake up waiting thread. This event number is for
// caller threads
static const eventmask_t EVT_DATA = EVENT_MASK(10);
@ -1671,29 +1669,20 @@ uint8_t UARTDriver::get_options(void) const
return _last_options;
}
// request information on uart I/O for @SYS/uarts.txt
// request information on uart I/O for @SYS/uarts.txt for this uart
void UARTDriver::uart_info(ExpandingString &str)
{
// a header to allow for machine parsers to determine format
str.printf("UARTV1\n");
uint32_t now_ms = AP_HAL::millis();
for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
UARTDriver* uart = (UARTDriver *)hal.serial(i);
if (uart == nullptr || uart->uart_thread_ctx == nullptr) {
continue;
}
const char* fmt = "SERIAL%u %-5s TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u\n";
str.printf(fmt, i, uart->uart_thread_name, uart->tx_dma_enabled ? '*' : ' ', uart->_tx_stats_bytes,
uart->rx_dma_enabled ? '*' : ' ', uart->_rx_stats_bytes,
uart->_tx_stats_bytes * 10000 / (now_ms - _last_stats_ms), uart->_rx_stats_bytes * 10000 / (now_ms - _last_stats_ms));
uart->_tx_stats_bytes = 0;
uart->_rx_stats_bytes = 0;
}
str.printf("%-5s TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u\n",
uart_thread_name,
tx_dma_enabled ? '*' : ' ',
unsigned(_tx_stats_bytes),
rx_dma_enabled ? '*' : ' ',
unsigned(_rx_stats_bytes),
unsigned(_tx_stats_bytes * 10000 / (now_ms - _last_stats_ms)),
unsigned(_rx_stats_bytes * 10000 / (now_ms - _last_stats_ms)));
_tx_stats_bytes = 0;
_rx_stats_bytes = 0;
_last_stats_ms = now_ms;
}

7
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -128,8 +128,9 @@ public:
}
return _baudrate/(9*1024);
}
// request information on uart I/O
static void uart_info(ExpandingString &str);
// request information on uart I/O for one uart
void uart_info(ExpandingString &str) override;
/*
return true if this UART has DMA enabled on both RX and TX
@ -217,7 +218,7 @@ private:
// statistics
uint32_t _tx_stats_bytes;
uint32_t _rx_stats_bytes;
static uint32_t _last_stats_ms;
uint32_t _last_stats_ms;
// we remember config options from set_options to apply on sdStart()
uint32_t _cr1_options;

18
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -576,10 +576,26 @@ void Util::apply_persistent_params(void) const
}
#endif // HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#if HAL_WITH_IO_MCU
extern ChibiOS::UARTDriver uart_io;
#endif
// request information on uart I/O
void Util::uart_info(ExpandingString &str)
{
#if !defined(HAL_NO_UARTDRIVER)
ChibiOS::UARTDriver::uart_info(str);
// a header to allow for machine parsers to determine format
str.printf("UARTV1\n");
for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
auto *uart = hal.serial(i);
if (uart) {
str.printf("SERIAL%u ", i);
uart->uart_info(str);
}
}
#if HAL_WITH_IO_MCU
str.printf("IOMCU ");
uart_io.uart_info(str);
#endif
#endif // HAL_NO_UARTDRIVER
}