Commit Graph

53 Commits

Author SHA1 Message Date
Andy Piper f6b9479542 AP_HAL_ChibiOS: add accessor for UART DMA status 2021-05-05 17:50:42 +10:00
Andrew Tridgell 47a5d78397 HAL_ChibiOS: disable DMA on high contention UARTs
switch to interrupt driven when in high contention
2021-04-08 06:53:48 +10:00
Andy Piper f9c5f9be00 AP_HAL_ChibiOS: make dshot DMA unlock event driven in order to allow unlocking from rcout thread
refactor rcout into separate thread and process all dshot requests there
move uart DMA completion to event model
process dshot locks in strick reverse order when unlocking
convert Shared_DMA to use mutexes
move UART transmit to a thread-per-uart
do blocking UART DMA transactions
do blocking dshot DMA transactions
trim stack sizes
cancel dma transactions on dshot when timeout occurs
support contention stats on blocking locking
move thread supression into chibios_hwdef.py
invalidate DMA bounce buffer correctly
separate UART initialisation into two halves
cleanup UART transaction timeouts
add @SYS/uarts.txt
move half-duplex handling to TX thread
correct thread statistics after use of ExpandingString
set unbuffered TX thread priority owner + 1
correctly unlock serial_led_send()
don't share IMU RX on KakuteF7Mini
observe dshot pulse time more accurately.
set TRBUFF bit for UART DMA transfers
deal with UART DMA timeouts correctly
don't deadlock on reverse ordered DMA locks
change PORT_INT_REQUIRED_STACK to 128
2021-02-20 14:37:11 +11:00
Andy Piper 4c2cbdab8d AP_HAL_ChibiOS: only setup half-duplex for receive when transmit is fully over 2021-02-17 20:09:48 +11:00
Andrew Tridgell 9de1519928 HAL_ChibiOS: prevent hw flow control from hogging a DMA channel
When hw flow control is enabled check the CTS pin before we grab the
DMA channel to prevent a long timeout trying to send to a blocked port
from holding a DMA channel against another device

this fixes issue #16587
2021-02-15 07:23:56 +11:00
Andrew Tridgell 4d171ec19a AP_HAL_ChibiOS: support uartI, allowing a total of 9 uarts
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
2020-11-30 14:09:31 +11:00
Andrew Tridgell 46976c4358 HAL_ChibiOS: fixed remapping of ioline_t with BRD_ALT_CONFIG
when a peripheral is made available via BRD_ALT_CONFIG we need to
remap the existing ioline_t in the UART and I2C drivers to use the new
pin.

This fixes an issue with half-duplex, inverted, swapped UART pins for
protocols like FPort and FPort2
2020-10-28 19:51:45 +11:00
Andrew Tridgell 989f8c5d41 HAL_ChibiOS: fixed a race condition in UART DMA transmit
this fixes an issue seen on one board which caused a watchdog on high
uart DMA load. We have reproduced the issue on another board by
forcing a very high DMA transfer rate on the same DMA channel while
also requesting very high transfer rates on the UART. The likely race
is in the DMA transmit timeout code, and the simplest fix is to lock
out interrupts during the DMA setup to ensure the tx timeout cannot
trigger during the setup
2020-10-12 13:25:48 +11:00
Siddharth Purohit a7d641c705 AP_HAL_ChibiOS: add available method for locked state 2020-08-19 17:31:09 +10:00
Peter Barker 6d9e563ede AP_HAL_ChibiOS: override read(buffer,count) method to be more efficient 2020-05-26 15:59:11 +10:00
Peter Barker 8f54de4184 AP_HAL_ChibiOS: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Andrew Tridgell e8ab35a192 HAL_ChibiOS: fixed stdout in early startup bug
this caused a failure to boot on some boards if they tried to print
messages in early startup code before hal was initialised

thanks to @Shadowru for reporting the issue
2020-02-12 13:51:10 +11:00
Andrew Tridgell 982cff0695 AP_HAL_ChibiOS: make all semaphores recursive
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
2020-01-19 20:19:30 +11:00
Andrew Tridgell a7b83b1e26 HAL_ChibiOS: allow for unbuffered writes without DMA 2020-01-16 20:36:54 +11:00
Andrew Tridgell bb5c1d07e1 HAL_ChibiOS: implement new UART option bits 2020-01-03 17:32:23 +11:00
Andrew Tridgell b1ca7380be HAL_ChibiOS: re-implement half-duplex using HDSEL switching
this makes half-duplex more reliable on UARTs with pullups or level
shifters
2020-01-02 09:52:57 +11:00
Andrew Tridgell faf34970e1 HAL_ChibiOS: automatically control pullup/pulldown on inverted UARTs
this makes setup of sport telemetry much easier
2020-01-02 09:52:57 +11:00
Andrew Tridgell 4b4642dd4d HAL_ChibiOS: allow handling of much higher receiver baudrates with DMA
this uses two DMA RX bouncebuffers to minimise the time with DMA
disabled so that we can handle much higher baudrates
2019-12-26 10:42:48 +11:00
Andrew Tridgell 58292821b3 HAL_ChibiOS: fix DMA on UARTs for F303 2019-12-26 10:42:48 +11:00
Mirko Denecke b84dcd483d AP_HAL_ChibiOS: remove unnecessary tabs and whitespaces 2019-10-21 08:01:56 +11:00
Andrew Tridgell bf2cf7834d HAL_ChibiOS: fixed a bug in parity/stop-bit setting on STM32F7 and H7
and add get_options() method
2019-09-06 08:51:45 +10:00
Andrew Tridgell 16bdaaa1af HAL_ChibiOS: added support for STM31F10x for AP_Periph 2019-08-27 10:29:56 +10:00
Andrew Tridgell 0075b96f3a HAL_ChibiOS: added uartH 2019-07-12 17:01:21 +10:00
Andrew Tridgell 8c43db1a00 HAL_ChibiOS: implement half-duplex delay and read locking 2018-12-29 15:58:22 +11:00
Andrew Tridgell 85243ad522 HAL_ChibiOS: enable support for half-duplex uart config 2018-11-14 19:05:09 +11:00
Andrew Tridgell acf03980ca HAL_ChibiOS: added UART inversion options
support GPIO pins or STM32F7
2018-11-14 19:05:09 +11:00
Peter Barker 17f643719a AP_HAL_ChibiOS: add override keyword in many places 2018-11-08 11:30:12 +11:00
Peter Barker d2cf065fdf AP_HAL_ChibiOS: return uart link bandwidth 2018-10-30 19:31:37 +11:00
Andrew Tridgell 83f38d536e HAL_ChibiOS: fixed flow control auto-detect without DMA
this fixes automatic flow control detection when we are not using DMA
for TX
2018-07-13 07:34:30 +10:00
Andrew Tridgell 0a5d287326 HAL_ChibiOS: support uartG 2018-06-29 08:17:38 +10:00
Andrew Tridgell 5bf078cc86 HAL_ChibiOS: fixed build with -Werror-sign-compare 2018-06-27 11:37:45 +10:00
Michael du Breuil 037e53ba8a AP_HAL_ChibiOS: Reduce flash space of UARTDriver
Saves 32 bytes
2018-06-26 02:18:18 +01:00
Andrew Tridgell 8431a677d9 HAL_ChibiOS: added a timeout to DMA UART TX
this prevents a shared DMA channel being held for a long time if a CTS
pin is held either by not being connected or by a radio
2018-06-19 09:08:45 +10:00
Andrew Tridgell 0fade4eb9e HAL_ChibiOS: make sure the UART bounce buffers are DMA safe 2018-06-06 07:15:41 +10:00
Andrew Tridgell 89898bae1d HAL_ChibiOS: take account of available bytes in receive_time_constraint_us 2018-05-21 14:53:18 +10:00
Andrew Tridgell 7005383f82 HAL_ChibiOS: implement uart receive timestamp API 2018-05-16 18:49:22 +10:00
Andrew Tridgell e4ce2f532b HAL_ChibiOS: make smaller builds possible
this allows for much smaller builds when you disable a lot of
options. This is part of an effort to create a bootloader of less than
16k using ChibiOS
2018-04-12 11:50:44 +10:00
Andrew Tridgell e448b5d069 HAL_ChibiOS: implement UART port locking 2018-04-07 09:10:29 +10:00
Andrew Tridgell bc32276966 HAL_ChibiOS: support DShot output
use DMAR burst DMA to minimise number of DMA channels needed

thanks to betaflight for the great reference implementation!
2018-04-07 09:10:29 +10:00
Andrew Tridgell a64819cbf2 HAL_ChibiOS: minimise DMA TX latency on contended UARTs
try to prevent long delays on other users of a DMA channel
2018-04-07 09:10:29 +10:00
Andrew Tridgell 556f3ba53f HAL_ChibiOS: make UARTs non-blocking by default
we never want blocking ports any more with ArduPilot, so defaulting to
blocking makes no sense
2018-03-02 21:39:38 +11:00
Andrew Tridgell 306d35655e HAL_ChibiOS: allow for bare board builds
this allows for a build with no UARTs, no SPI, no I2C, no PWM. Great
for initial board bringup with just USB
2018-03-02 12:52:50 +11:00
Andrew Tridgell 82f1f462ae HAL_ChibiOS: ensure we don't init a uart driver twice 2018-02-07 20:33:45 +11:00
Andrew Tridgell dce4c90467 HAL_ChibiOS: moved UART thread to UART driver
use an event model for triggering sends from tx complete DMA handler
for unbuffered uarts
2018-02-07 20:33:45 +11:00
Andrew Tridgell 979a2a4796 HAL_ChibiOS: removed debug code 2018-02-07 20:33:45 +11:00
Mark Whitehorn b94b1dcd97 AP_HAL_ChibiOS: add missing declaration 2018-02-07 20:33:45 +11:00
Siddharth Purohit 02696882e9 HAL_ChibiOS: if unbuffered write, do continue to invoke DMA writes
adds higher latency to device sharing DMA
2018-02-07 20:33:45 +11:00
Andrew Tridgell ad26ca4a27 HAL_ChibiOS: implement parity and stop bits controls 2018-02-07 20:33:45 +11:00
Andrew Tridgell 3f2cc2c9d6 HAL_ChibiOS: implement low latency UART writes
this implements the set_unbuffered_writes() API by performing writes
directly in the write() call and not from a timer
2018-02-07 20:33:45 +11:00
Andrew Tridgell 865e4f3104 HAL_ChibiOS: implement _timer_tick in UARTDriver 2018-02-07 20:33:45 +11:00