Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: ensure we don't init a uart driver twice

Browse Source
This commit is contained in:
Andrew Tridgell 2018-02-06 20:20:09 +11:00
parent ad5a04fc89
commit 82f1f462ae
2 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -122,7 +122,6 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
if (sdef.serial == nullptr) {
return;
}
bool was_initialised = _initialised;
uint16_t min_tx_buffer = 4096;
uint16_t min_rx_buffer = 1024;
// on PX4 we have enough memory to have a larger transmit and
@ -171,7 +170,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
/*
* Initializes a serial-over-USB CDC driver.
*/
if (!was_initialised) {
if (!_device_initialised) {
sduObjectInit((SerialUSBDriver*)sdef.serial);
sduStart((SerialUSBDriver*)sdef.serial, &serusbcfg);
/*
@ -183,12 +182,14 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
hal.scheduler->delay_microseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
_device_initialised = true;
}
#endif
} else {
if (_baudrate != 0) {
bool was_initialised = _device_initialised;
//setup Rx DMA
if(!was_initialised) {
if(!_device_initialised) {
if(sdef.dma_rx) {
rxdma = STM32_DMA_STREAM(sdef.dma_rx_stream_id);
chSysLock();
@ -209,6 +210,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
FUNCTOR_BIND_MEMBER(&UARTDriver::dma_tx_allocate, void),
FUNCTOR_BIND_MEMBER(&UARTDriver::dma_tx_deallocate, void));
}
_device_initialised = true;
}
sercfg.speed = _baudrate;
if (!sdef.dma_tx && !sdef.dma_rx) {

1
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -112,6 +112,7 @@ private:
bool _in_timer;
bool _nonblocking_writes;
bool _initialised;
bool _device_initialised;
bool _lock_rx_in_timer_tick = false;
Shared_DMA *dma_handle;
static const SerialDef _serial_tab[];