HAL_ChibiOS: implement NOFIFO option for uarts

2021-07-08 08:24:45 +10:00 · 2021-07-08 08:24:45 +10:00 · 926d4ad71c
parent 269c4084d2
commit 926d4ad71c
1 changed files with 10 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@ -308,6 +308,16 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
    }
 #endif

+#if defined(USART_CR1_FIFOEN)
+    // enable the UART FIFO on G4 and H7. This allows for much higher baudrates
+    // without data loss when not using DMA
+    if (_last_options & OPTION_NOFIFO) {
+        _cr1_options &= ~USART_CR1_FIFOEN;
+    } else {
+        _cr1_options |= USART_CR1_FIFOEN;
+    }
+#endif
+
    /*
      allocate the write buffer
     */