HAL_ChibiOS: added a method for just changing port owner

2023-08-01 17:18:17 +10:00 · 2023-08-01 17:18:17 +10:00 · 0ed33653fc
commit 0ed33653fc
parent a5fd60ec71
1 changed files with 6 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@ -231,6 +231,12 @@ static int hal_console_vprintf(const char *fmt, va_list arg)

 void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
 {
+    if (b == 0 && txS == 0 && rxS == 0 && _tx_initialised && _rx_initialised) {
+        // just changing port owner
+        _uart_owner_thd = chThdGetSelfX();
+        return;
+    }
+
    thread_rx_init();

    if (sdef.serial == nullptr) {