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HAL_ChibiOS: enable support for half-duplex uart config

This commit is contained in:
Andrew Tridgell 2018-11-14 15:55:14 +11:00
parent 58ed5a123c
commit 85243ad522
2 changed files with 60 additions and 28 deletions
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82
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -252,22 +252,28 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_device_initialised = true;
}
sercfg.speed = _baudrate;
// start with options from set_options()
sercfg.cr1 = 0;
sercfg.cr2 = _cr2_options;
sercfg.cr3 = _cr3_options;
if (!sdef.dma_tx && !sdef.dma_rx) {
sercfg.cr1 = 0;
sercfg.cr3 = 0;
} else {
if (sdef.dma_rx) {
sercfg.cr1 = USART_CR1_IDLEIE;
sercfg.cr3 = USART_CR3_DMAR;
sercfg.cr1 |= USART_CR1_IDLEIE;
sercfg.cr3 |= USART_CR3_DMAR;
}
if (sdef.dma_tx) {
sercfg.cr3 |= USART_CR3_DMAT;
}
}
sercfg.cr2 = USART_CR2_STOP1_BITS;
sercfg.cr2 |= USART_CR2_STOP1_BITS;
sercfg.irq_cb = rx_irq_cb;
sercfg.ctx = (void*)this;
sdStart((SerialDriver*)sdef.serial, &sercfg);
if(sdef.dma_rx) {
//Configure serial driver to skip handling RX packets
//because we will handle them via DMA
@ -1034,12 +1040,13 @@ void UARTDriver::set_stop_bits(int n)
switch (n) {
case 1:
sercfg.cr2 = USART_CR2_STOP1_BITS;
sercfg.cr2 = _cr2_options | USART_CR2_STOP1_BITS;
break;
case 2:
sercfg.cr2 = USART_CR2_STOP2_BITS;
sercfg.cr2 = _cr2_options | USART_CR2_STOP2_BITS;
break;
}
sdStart((SerialDriver*)sdef.serial, &sercfg);
if(sdef.dma_rx) {
//Configure serial driver to skip handling RX packets
@ -1084,38 +1091,33 @@ uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes)
// set optional features, return true on success
bool UARTDriver::set_options(uint8_t options)
{
if (options == 0) {
return true;
}
if (sdef.is_usb) {
return false;
// no options allowed on USB
return (options == 0);
}
#if defined(STM32F7) && HAL_USE_SERIAL == TRUE
// F7 has built-in support for inversion in all uarts
bool ret = true;
#if HAL_USE_SERIAL == TRUE
SerialDriver *sd = (SerialDriver*)(sdef.serial);
uint32_t cr2 = sd->usart->CR2;
uint32_t cr3 = sd->usart->CR3;
bool was_enabled = (sd->usart->CR1 & USART_CR1_UE);
#ifdef STM32F7
// F7 has built-in support for inversion in all uarts
if (options & OPTION_RXINV) {
cr2 |= USART_CR2_RXINV;
} else {
_cr2_options |= USART_CR2_RXINV;
cr2 &= ~USART_CR2_RXINV;
}
if (options & OPTION_TXINV) {
cr2 |= USART_CR2_TXINV;
_cr2_options |= USART_CR2_TXINV;
} else {
cr2 &= ~USART_CR2_TXINV;
}
if (was_enabled) {
sd->usart->CR1 &= ~USART_CR1_UE;
}
sd->usart->CR2 = cr2;
if (was_enabled) {
sd->usart->CR1 |= USART_CR1_UE;
}
return true;
#else
// external pin based inversion control, relying on TXINV and RXINV lines in hwdef.dat
bool ret = true;
#else // STM32F4
// F4 can do inversion by GPIO if enabled in hwdef.dat, using
// TXINV and RXINV options
if (options & OPTION_RXINV) {
if (sdef.rxinv_gpio >= 0) {
hal.gpio->write(sdef.rxinv_gpio, sdef.rxinv_polarity);
@ -1130,8 +1132,34 @@ bool UARTDriver::set_options(uint8_t options)
ret = false;
}
}
#endif // STM32xx
// both F4 and F7 can do half-duplex
if (options & OPTION_HDPLEX) {
cr3 |= USART_CR3_HDSEL;
_cr3_options |= USART_CR3_HDSEL;
} else {
cr3 &= ~USART_CR3_HDSEL;
}
if (sd->usart->CR2 == cr2 &&
sd->usart->CR3 == cr3) {
// no change
return ret;
}
if (was_enabled) {
sd->usart->CR1 &= ~USART_CR1_UE;
}
sd->usart->CR2 = cr2;
sd->usart->CR3 = cr3;
if (was_enabled) {
sd->usart->CR1 |= USART_CR1_UE;
}
#endif // HAL_USE_SERIAL == TRUE
return ret;
#endif
}
#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

4
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -170,6 +170,10 @@ private:
uint32_t _first_write_started_us;
uint32_t _total_written;
// we remember cr2 and cr2 options from set_options to apply on sdStart()
uint32_t _cr3_options;
uint32_t _cr2_options;
// set to true for unbuffered writes (low latency writes)
bool unbuffered_writes;