Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: allow for unbuffered writes without DMA

Browse Source
This commit is contained in:
Andrew Tridgell 2020-01-09 21:29:02 +11:00
parent b8f9f171e0
commit a7b83b1e26
2 changed files with 28 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

47
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -404,7 +404,7 @@ void UARTDriver::dma_tx_deallocate(Shared_DMA *ctx)
}
/*
DMA transmit complettion interrupt handler
DMA transmit completion interrupt handler
*/
void UARTDriver::tx_complete(void* self, uint32_t flags)
{
@ -605,12 +605,19 @@ int16_t UARTDriver::read_locked(uint32_t key)
return byte;
}
/* Empty implementations of Print virtual methods */
/* write one byte to the port */
size_t UARTDriver::write(uint8_t c)
{
if (lock_write_key != 0 || !_write_mutex.take_nonblocking()) {
if (lock_write_key != 0) {
return 0;
}
if (unbuffered_writes && _blocking_writes) {
_write_mutex.take_blocking();
} else {
if (!_write_mutex.take_nonblocking()) {
return 0;
}
}
if (!_initialised) {
_write_mutex.give();
@ -632,6 +639,7 @@ size_t UARTDriver::write(uint8_t c)
return ret;
}
/* write a block of bytes to the port */
size_t UARTDriver::write(const uint8_t *buffer, size_t size)
{
if (!_initialised || lock_write_key != 0) {
@ -771,6 +779,7 @@ void UARTDriver::handle_tx_timeout(void *arg)
*/
void UARTDriver::write_pending_bytes_DMA(uint32_t n)
{
WITH_SEMAPHORE(_write_mutex);
check_dma_tx_completion();
if (!tx_bounce_buf_ready) {
@ -823,6 +832,8 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
*/
void UARTDriver::write_pending_bytes_NODMA(uint32_t n)
{
WITH_SEMAPHORE(_write_mutex);
ByteBuffer::IoVec vec[2];
uint16_t nwritten = 0;
@ -937,11 +948,13 @@ void UARTDriver::half_duplex_setup_tx(void)
#ifdef HAVE_USB_SERIAL
if (!hd_tx_active) {
chEvtGetAndClearFlags(&hd_listener);
SerialDriver *sd = (SerialDriver*)(sdef.serial);
hd_tx_active = true;
sdStop(sd);
sercfg.cr3 &= ~USART_CR3_HDSEL;
sdStart(sd, &sercfg);
if (_last_options & (OPTION_RXINV | OPTION_TXINV)) {
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
sercfg.cr3 &= ~USART_CR3_HDSEL;
sdStart(sd, &sercfg);
}
}
#endif
}
@ -962,10 +975,12 @@ void UARTDriver::_timer_tick(void)
half-duplex transmit has finished. We now re-enable the
HDSEL bit for receive
*/
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
sercfg.cr3 |= USART_CR3_HDSEL;
sdStart(sd, &sercfg);
if (_last_options & (OPTION_RXINV | OPTION_TXINV)) {
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
sercfg.cr3 |= USART_CR3_HDSEL;
sdStart(sd, &sercfg);
}
hd_tx_active = false;
}
#endif
@ -1065,7 +1080,7 @@ void UARTDriver::_timer_tick(void)
// provided by the write() call, but if the write is larger
// than the DMA buffer size then there can be extra bytes to
// send here, and they must be sent with the write lock held
_write_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
_write_mutex.take_blocking();
write_pending_bytes();
_write_mutex.give();
} else {
@ -1159,16 +1174,8 @@ void UARTDriver::update_rts_line(void)
*/
bool UARTDriver::set_unbuffered_writes(bool on)
{
#ifdef HAL_UART_NODMA
return false;
#else
if (on && !tx_dma_enabled) {
// we can't implement low latemcy writes safely without TX DMA
return false;
}
unbuffered_writes = on;
return true;
#endif
}
/*

2
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -159,7 +159,7 @@ private:
#endif
ByteBuffer _readbuf{0};
ByteBuffer _writebuf{0};
Semaphore _write_mutex;
HAL_Semaphore_Recursive _write_mutex;
#ifndef HAL_UART_NODMA
const stm32_dma_stream_t* rxdma;
const stm32_dma_stream_t* txdma;