Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_ChibiOS: add STM32F7 UART support

This commit is contained in:
mirkix 2018-05-08 23:22:22 +02:00 committed by Andrew Tridgell
parent 494735db2e
commit cb50639e27
1 changed files with 13 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -199,7 +199,11 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
(void *)this);
osalDbgAssert(!dma_allocated, "stream already allocated");
chSysUnlock();
#if defined(STM32F7)
dmaStreamSetPeripheral(rxdma, &((SerialDriver*)sdef.serial)->usart->RDR);
#else
dmaStreamSetPeripheral(rxdma, &((SerialDriver*)sdef.serial)->usart->DR);
#endif // STM32F7
}
if (sdef.dma_tx) {
// we only allow for sharing of the TX DMA channel, not the RX
@ -228,7 +232,6 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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
@ -272,7 +275,11 @@ void UARTDriver::dma_tx_allocate(Shared_DMA *ctx)
(void *)this);
osalDbgAssert(!dma_allocated, "stream already allocated");
chSysUnlock();
#if defined(STM32F7)
dmaStreamSetPeripheral(txdma, &((SerialDriver*)sdef.serial)->usart->TDR);
#else
dmaStreamSetPeripheral(txdma, &((SerialDriver*)sdef.serial)->usart->DR);
#endif // STM32F7
#endif // HAL_USE_SERIAL
}
@ -311,6 +318,10 @@ void UARTDriver::rx_irq_cb(void* self)
if (!uart_drv->sdef.dma_rx) {
return;
}
#if defined(STM32F7)
//disable dma, triggering DMA transfer complete interrupt
uart_drv->rxdma->stream->CR &= ~STM32_DMA_CR_EN;
#else
volatile uint16_t sr = ((SerialDriver*)(uart_drv->sdef.serial))->usart->SR;
if(sr & USART_SR_IDLE) {
volatile uint16_t dr = ((SerialDriver*)(uart_drv->sdef.serial))->usart->DR;
@ -318,6 +329,7 @@ void UARTDriver::rx_irq_cb(void* self)
//disable dma, triggering DMA transfer complete interrupt
uart_drv->rxdma->stream->CR &= ~STM32_DMA_CR_EN;
}
#endif // STM32F7
#endif // HAL_USE_SERIAL
}