mirror of https://github.com/ArduPilot/ardupilot
305 lines
8.8 KiB
C++
305 lines
8.8 KiB
C++
/*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_HAL/utility/RingBuffer.h>
|
|
|
|
#include "AP_HAL_ChibiOS.h"
|
|
#include "shared_dma.h"
|
|
#include "Semaphores.h"
|
|
|
|
#define RX_BOUNCE_BUFSIZE 64U
|
|
#define TX_BOUNCE_BUFSIZE 64U
|
|
|
|
// enough for serial0 to serial9, plus IOMCU
|
|
#define UART_MAX_DRIVERS 11
|
|
|
|
#ifndef HAL_HAVE_LOW_NOISE_UART
|
|
#define HAL_HAVE_LOW_NOISE_UART 0
|
|
#endif
|
|
|
|
class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
|
|
public:
|
|
UARTDriver(uint8_t serial_num);
|
|
|
|
/* Do not allow copies */
|
|
CLASS_NO_COPY(UARTDriver);
|
|
|
|
bool is_initialized() override;
|
|
bool tx_pending() override;
|
|
uint32_t get_usb_baud() const override;
|
|
uint8_t get_usb_parity() const override;
|
|
|
|
// disable TX/RX pins for unusued uart
|
|
void disable_rxtx(void) const override;
|
|
|
|
uint32_t txspace() override;
|
|
void _rx_timer_tick(void);
|
|
void _tx_timer_tick(void);
|
|
#if HAL_FORWARD_OTG2_SERIAL
|
|
void fwd_otg2_serial(void);
|
|
#endif
|
|
|
|
// control optional features
|
|
bool set_options(uint16_t options) override;
|
|
uint16_t get_options(void) const override;
|
|
|
|
struct SerialDef {
|
|
BaseSequentialStream* serial;
|
|
uint8_t instance;
|
|
bool is_usb;
|
|
#ifndef HAL_UART_NODMA
|
|
bool dma_rx;
|
|
uint8_t dma_rx_stream_id;
|
|
uint32_t dma_rx_channel_id;
|
|
bool dma_tx;
|
|
uint8_t dma_tx_stream_id;
|
|
uint32_t dma_tx_channel_id;
|
|
#endif
|
|
ioline_t tx_line;
|
|
ioline_t rx_line;
|
|
ioline_t rts_line;
|
|
ioline_t cts_line;
|
|
int8_t rxinv_gpio;
|
|
uint8_t rxinv_polarity;
|
|
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]);
|
|
}
|
|
|
|
#if HAL_HAVE_LOW_NOISE_UART
|
|
bool low_noise_line;
|
|
#endif
|
|
};
|
|
|
|
bool wait_timeout(uint16_t n, uint32_t timeout_ms) override;
|
|
|
|
void set_flow_control(enum flow_control flow_control) override;
|
|
enum flow_control get_flow_control(void) override { return _flow_control; }
|
|
|
|
// allow for low latency writes
|
|
bool set_unbuffered_writes(bool on) override;
|
|
|
|
void configure_parity(uint8_t v) override;
|
|
void set_stop_bits(int n) override;
|
|
|
|
/*
|
|
software control of the CTS/RTS pins if available. Return false if
|
|
not available
|
|
*/
|
|
bool set_RTS_pin(bool high) override;
|
|
bool set_CTS_pin(bool high) override;
|
|
|
|
/*
|
|
return timestamp estimate in microseconds for when the start of
|
|
a nbytes packet arrived on the uart. This should be treated as a
|
|
time constraint, not an exact time. It is guaranteed that the
|
|
packet did not start being received after this time, but it
|
|
could have been in a system buffer before the returned time.
|
|
|
|
This takes account of the baudrate of the link. For transports
|
|
that have no baudrate (such as USB) the time estimate may be
|
|
less accurate.
|
|
|
|
A return value of zero means the HAL does not support this API
|
|
*/
|
|
uint64_t receive_time_constraint_us(uint16_t nbytes) override;
|
|
|
|
uint32_t bw_in_bytes_per_second() const override {
|
|
if (sdef.is_usb) {
|
|
return 200*1024;
|
|
}
|
|
return _baudrate/10;
|
|
}
|
|
|
|
uint32_t get_baud_rate() const override { return _baudrate; }
|
|
|
|
#if HAL_UART_STATS_ENABLED
|
|
// request information on uart I/O for one uart
|
|
void uart_info(ExpandingString &str, StatsTracker &stats, const uint32_t dt_ms) override;
|
|
#endif
|
|
|
|
/*
|
|
return true if this UART has DMA enabled on both RX and TX
|
|
*/
|
|
bool is_dma_enabled() const override { return rx_dma_enabled && tx_dma_enabled; }
|
|
|
|
private:
|
|
const SerialDef &sdef;
|
|
bool rx_dma_enabled;
|
|
bool tx_dma_enabled;
|
|
|
|
/*
|
|
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;
|
|
|
|
// table to find UARTDrivers from serial number, used for event handling
|
|
static UARTDriver *serial_drivers[UART_MAX_DRIVERS];
|
|
|
|
// thread used for writing and reading
|
|
thread_t* volatile uart_thread_ctx;
|
|
char uart_thread_name[6];
|
|
|
|
// index into serial_drivers table
|
|
uint8_t serial_num;
|
|
|
|
uint32_t _baudrate;
|
|
#if HAL_USE_SERIAL == TRUE
|
|
SerialConfig sercfg;
|
|
#endif
|
|
const thread_t* _uart_owner_thd;
|
|
|
|
struct {
|
|
// thread waiting for data
|
|
thread_t *thread_ctx;
|
|
// number of bytes needed
|
|
uint16_t n;
|
|
} _wait;
|
|
|
|
// we use in-task ring buffers to reduce the system call cost
|
|
// of ::read() and ::write() in the main loop
|
|
#ifndef HAL_UART_NODMA
|
|
volatile uint8_t rx_bounce_idx;
|
|
uint8_t *rx_bounce_buf[2];
|
|
uint8_t *tx_bounce_buf;
|
|
uint16_t contention_counter;
|
|
#endif
|
|
ByteBuffer _readbuf{0};
|
|
ByteBuffer _writebuf{0};
|
|
uint32_t _rts_threshold;
|
|
HAL_Semaphore _write_mutex;
|
|
#ifndef HAL_UART_NODMA
|
|
const stm32_dma_stream_t* rxdma;
|
|
const stm32_dma_stream_t* txdma;
|
|
#endif
|
|
volatile bool _in_rx_timer;
|
|
volatile bool _in_tx_timer;
|
|
volatile bool _rx_initialised;
|
|
volatile bool _tx_initialised;
|
|
volatile bool _device_initialised;
|
|
#ifndef HAL_UART_NODMA
|
|
Shared_DMA *dma_handle;
|
|
#endif
|
|
static const SerialDef _serial_tab[];
|
|
|
|
// timestamp for receiving data on the UART, avoiding a lock
|
|
uint64_t _receive_timestamp[2];
|
|
uint8_t _receive_timestamp_idx;
|
|
|
|
// handling of flow control
|
|
enum flow_control _flow_control = FLOW_CONTROL_DISABLE;
|
|
bool _rts_is_active;
|
|
uint32_t _last_write_completed_us;
|
|
uint32_t _first_write_started_us;
|
|
uint32_t _total_written;
|
|
|
|
// statistics
|
|
uint32_t _tx_stats_bytes;
|
|
uint32_t _rx_stats_bytes;
|
|
|
|
// we remember config options from set_options to apply on sdStart()
|
|
uint32_t _cr1_options;
|
|
uint32_t _cr2_options;
|
|
uint32_t _cr3_options;
|
|
uint16_t _last_options;
|
|
|
|
// half duplex control. After writing we throw away bytes for 4 byte widths to
|
|
// prevent reading our own bytes back
|
|
#if CH_CFG_USE_EVENTS == TRUE
|
|
bool half_duplex;
|
|
event_listener_t hd_listener;
|
|
eventflags_t hd_tx_active;
|
|
void half_duplex_setup_tx(void);
|
|
#endif
|
|
|
|
// set to true for unbuffered writes (low latency writes)
|
|
bool unbuffered_writes;
|
|
|
|
#if CH_CFG_USE_EVENTS == TRUE
|
|
// listener for parity error events
|
|
event_listener_t ev_listener;
|
|
bool parity_enabled;
|
|
#endif
|
|
|
|
#ifndef HAL_UART_NODMA
|
|
static void rx_irq_cb(void* sd);
|
|
#endif
|
|
static void rxbuff_full_irq(void* self, uint32_t flags);
|
|
static void tx_complete(void* self, uint32_t flags);
|
|
|
|
#ifndef HAL_UART_NODMA
|
|
void dma_tx_allocate(Shared_DMA *ctx);
|
|
void dma_tx_deallocate(Shared_DMA *ctx);
|
|
void dma_rx_enable(void);
|
|
#endif
|
|
void update_rts_line(void);
|
|
|
|
void check_dma_tx_completion(void);
|
|
#ifndef HAL_UART_NODMA
|
|
void write_pending_bytes_DMA(uint32_t n);
|
|
#endif
|
|
void write_pending_bytes_NODMA(uint32_t n);
|
|
void write_pending_bytes(void);
|
|
void read_bytes_NODMA();
|
|
|
|
void receive_timestamp_update(void);
|
|
|
|
// set SERIALn_OPTIONS for pullup/pulldown
|
|
void set_pushpull(uint16_t options);
|
|
|
|
static void thread_rx_init();
|
|
void thread_init();
|
|
void uart_thread();
|
|
static void uart_rx_thread(void* arg);
|
|
static void uart_thread_trampoline(void* p);
|
|
|
|
protected:
|
|
void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
|
|
void _end() override;
|
|
void _flush() override;
|
|
size_t _write(const uint8_t *buffer, size_t size) override;
|
|
ssize_t _read(uint8_t *buffer, uint16_t count) override;
|
|
uint32_t _available() override;
|
|
bool _discard_input() override;
|
|
|
|
#if HAL_UART_STATS_ENABLED
|
|
// Getters for cumulative tx and rx counts
|
|
uint32_t get_total_tx_bytes() const override { return _tx_stats_bytes; }
|
|
uint32_t get_total_rx_bytes() const override { return _rx_stats_bytes; }
|
|
#if CH_CFG_USE_EVENTS == TRUE
|
|
uint32_t _rx_stats_framing_errors;
|
|
uint32_t _rx_stats_overrun_errors;
|
|
uint32_t _rx_stats_noise_errors;
|
|
event_listener_t err_listener;
|
|
bool err_listener_initialised;
|
|
#endif
|
|
#endif
|
|
};
|
|
|
|
// access to usb init for stdio.cpp
|
|
void usb_initialise(void);
|