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ChibiOS: UART: Add support for RS-485 Driver Enable RTS flow control

This commit is contained in:
Iampete1 2024-04-30 17:57:29 +01:00 committed by Andrew Tridgell
parent e6a0abdfce
commit e10b4abad8
2 changed files with 33 additions and 4 deletions
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36
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -805,7 +805,7 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
}
while (n > 0) {
if (_flow_control != FLOW_CONTROL_DISABLE &&
if (flow_control_enabled(_flow_control) &&
acts_line != 0 &&
palReadLine(acts_line)) {
// we are using hw flow control and the CTS line is high. We
@ -1360,6 +1360,33 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
}
chSysUnlock();
break;
case FLOW_CONTROL_RTS_DE:
// Driver Enable, RTS pin high during transmit
// If posible enable in hardware
#if defined(USART_CR3_DEM)
if (sdef.rts_alternative_function != UINT8_MAX) {
// Hand over control of RTS pin to the UART driver
palSetLineMode(arts_line, PAL_MODE_ALTERNATE(sdef.rts_alternative_function));
// Enable in driver, if not already set
chSysLock();
if ((sd->usart->CR3 & USART_CR3_DEM) != USART_CR3_DEM) {
// Disable UART, set bit and then re-enable
sd->usart->CR1 &= ~USART_CR1_UE;
sd->usart->CR3 |= USART_CR3_DEM;
sd->usart->CR1 |= USART_CR1_UE;
}
chSysUnlock();
} else
#endif
{
// No hardware support for DEM mode or
// No alternative function, RTS GPIO pin is not a conected to the UART peripheral
// This is typicaly fine becaues we do software flow control.
set_flow_control(FLOW_CONTROL_DISABLE);
}
break;
}
#endif // HAL_USE_SERIAL
}
@ -1370,7 +1397,7 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
*/
__RAMFUNC__ void UARTDriver::update_rts_line(void)
{
if (arts_line == 0 || _flow_control == FLOW_CONTROL_DISABLE) {
if (arts_line == 0 || !flow_control_enabled(_flow_control)) {
return;
}
uint16_t space = _readbuf.space();
@ -1706,13 +1733,14 @@ void UARTDriver::uart_info(ExpandingString &str, StatsTracker &stats, const uint
} else {
str.printf("UART%u ", unsigned(sdef.instance));
}
str.printf("TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u\n",
str.printf("TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u FlowCtrl=%u\n",
tx_dma_enabled ? '*' : ' ',
unsigned(tx_bytes),
rx_dma_enabled ? '*' : ' ',
unsigned(rx_bytes),
unsigned((tx_bytes * 10000) / dt_ms),
unsigned((rx_bytes * 10000) / dt_ms));
unsigned((rx_bytes * 10000) / dt_ms),
_flow_control);
}
#endif

1
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -74,6 +74,7 @@ public:
int8_t txinv_gpio;
uint8_t txinv_polarity;
uint8_t endpoint_id;
uint8_t rts_alternative_function;
uint8_t get_index(void) const {
return uint8_t(this - &_serial_tab[0]);
}