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AP_HAL_ChibiOS:UARTDriver: allow re-defintion of RTS and CTS pins

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This commit is contained in:
Iampete1 2021-09-23 19:05:18 +01:00 committed by Peter Barker
parent eeb5dd3c96
commit dc45a113f9
2 changed files with 24 additions and 18 deletions
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38
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -924,8 +924,8 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
while (n > 0) {
if (_flow_control != FLOW_CONTROL_DISABLE &&
sdef.cts_line != 0 &&
palReadLine(sdef.cts_line)) {
acts_line != 0 &&
palReadLine(acts_line)) {
// we are using hw flow control and the CTS line is high. We
// will hold off trying to transmit until the CTS line goes
// low to indicate the receiver has space. We do this before
@ -1349,7 +1349,7 @@ void UARTDriver::_tx_timer_tick(void)
*/
void UARTDriver::set_flow_control(enum flow_control flowcontrol)
{
if (sdef.rts_line == 0 || sdef.is_usb) {
if (arts_line == 0 || sdef.is_usb) {
// no hw flow control available
return;
}
@ -1364,8 +1364,8 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
case FLOW_CONTROL_DISABLE:
// force RTS active when flow disabled
palSetLineMode(sdef.rts_line, 1);
palClearLine(sdef.rts_line);
palSetLineMode(arts_line, 1);
palClearLine(arts_line);
_rts_is_active = true;
// disable hardware CTS support
chSysLock();
@ -1386,8 +1386,8 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
case FLOW_CONTROL_ENABLE:
// we do RTS in software as STM32 hardware RTS support toggles
// the pin for every byte which loses a lot of bandwidth
palSetLineMode(sdef.rts_line, 1);
palClearLine(sdef.rts_line);
palSetLineMode(arts_line, 1);
palClearLine(arts_line);
_rts_is_active = true;
// enable hardware CTS support, disable RTS support as we do that in software
chSysLock();
@ -1410,16 +1410,16 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
*/
void UARTDriver::update_rts_line(void)
{
if (sdef.rts_line == 0 || _flow_control == FLOW_CONTROL_DISABLE) {
if (arts_line == 0 || _flow_control == FLOW_CONTROL_DISABLE) {
return;
}
uint16_t space = _readbuf.space();
if (_rts_is_active && space < 16) {
_rts_is_active = false;
palSetLine(sdef.rts_line);
palSetLine(arts_line);
} else if (!_rts_is_active && space > 32) {
_rts_is_active = true;
palClearLine(sdef.rts_line);
palClearLine(arts_line);
}
}
@ -1605,13 +1605,17 @@ bool UARTDriver::set_options(uint16_t options)
#ifdef HAL_PIN_ALT_CONFIG
/*
allow for RX and TX pins to be remapped via BRD_ALT_CONFIG
allow for RX, TX, RTS and CTS pins to be remapped via BRD_ALT_CONFIG
*/
arx_line = GPIO::resolve_alt_config(sdef.rx_line, PERIPH_TYPE::UART_RX, sdef.instance);
atx_line = GPIO::resolve_alt_config(sdef.tx_line, PERIPH_TYPE::UART_TX, sdef.instance);
arts_line = GPIO::resolve_alt_config(sdef.rts_line, PERIPH_TYPE::OTHER, sdef.instance);
acts_line = GPIO::resolve_alt_config(sdef.cts_line, PERIPH_TYPE::OTHER, sdef.instance);
#else
arx_line = sdef.rx_line;
atx_line = sdef.tx_line;
arts_line = sdef.rts_line;
acts_line = sdef.cts_line;
#endif
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
@ -1765,12 +1769,12 @@ bool UARTDriver::set_CTS_pin(bool high)
// CTS pin is being used
return false;
}
if (sdef.cts_line == 0) {
if (acts_line == 0) {
// we don't have a CTS pin on this UART
return false;
}
palSetLineMode(sdef.cts_line, 1);
palWriteLine(sdef.cts_line, high?1:0);
palSetLineMode(acts_line, 1);
palWriteLine(acts_line, high?1:0);
return true;
}
@ -1784,12 +1788,12 @@ bool UARTDriver::set_RTS_pin(bool high)
// RTS pin is being used
return false;
}
if (sdef.rts_line == 0) {
if (arts_line == 0) {
// we don't have a RTS pin on this UART
return false;
}
palSetLineMode(sdef.rts_line, 1);
palWriteLine(sdef.rts_line, high?1:0);
palSetLineMode(arts_line, 1);
palWriteLine(arts_line, high?1:0);
return true;
}

4
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -152,10 +152,12 @@ private:
bool tx_dma_enabled;
/*
copy of rx_line and tx_line with alternative configs resolved
copy of rx_line, tx_line, rts_line and cts_line with alternative configs resolved
*/
ioline_t atx_line;
ioline_t arx_line;
ioline_t arts_line;
ioline_t acts_line;
// thread used for all UARTs
static thread_t* volatile uart_rx_thread_ctx;