From 4d171ec19a9a235a1c86a6f90a6ffbca53d60dd4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 26 Nov 2020 17:48:59 +1100
Subject: [PATCH] AP_HAL_ChibiOS: support uartI, allowing a total of 9 uarts

this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp          | 3 +++
 libraries/AP_HAL_ChibiOS/UARTDriver.h                   | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat | 6 +++---
 libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 6 +++---
 5 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 4169a1067b..ecbdf133c5 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -45,6 +45,7 @@ static HAL_UARTE_DRIVER;
 static HAL_UARTF_DRIVER;
 static HAL_UARTG_DRIVER;
 static HAL_UARTH_DRIVER;
+static HAL_UARTI_DRIVER;
 #else
 static Empty::UARTDriver uartADriver;
 static Empty::UARTDriver uartBDriver;
@@ -54,6 +55,7 @@ static Empty::UARTDriver uartEDriver;
 static Empty::UARTDriver uartFDriver;
 static Empty::UARTDriver uartGDriver;
 static Empty::UARTDriver uartHDriver;
+static Empty::UARTDriver uartIDriver;
 #endif
 
 #if HAL_USE_I2C == TRUE && defined(HAL_I2C_DEVICE_LIST)
@@ -124,6 +126,7 @@ HAL_ChibiOS::HAL_ChibiOS() :
         &uartFDriver,
         &uartGDriver,
         &uartHDriver,
+        &uartIDriver,
         &i2cDeviceManager,
         &spiDeviceManager,
         &analogIn,
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h
index b7ab901194..50c3159126 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.h
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.h
@@ -25,8 +25,8 @@
 #define RX_BOUNCE_BUFSIZE 64U
 #define TX_BOUNCE_BUFSIZE 64U
 
-// enough for uartA to uartH, plus IOMCU
-#define UART_MAX_DRIVERS 9
+// enough for uartA to uartI, plus IOMCU
+#define UART_MAX_DRIVERS 10
 
 class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
 public:
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
index fcb9d62970..0737fce714 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
@@ -23,7 +23,7 @@ define CH_CFG_ST_RESOLUTION 16
 I2C_ORDER I2C2 I2C1
 
 # order of UARTs (and USB)
-SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
+SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 UART5
 
 # tonealarm support
 PB9 TIM11_CH1 TIM11 GPIO(32) ALARM
@@ -108,8 +108,8 @@ PD8 USART3_TX USART3 NODMA
 PD1 UART4_TX UART4 NODMA
 PD0 UART4_RX UART4 NODMA
 
-# UART5 (RX only, for ESC telem), disabled for now until we add uartH support
-# PB8 UART5_RX UART5 NODMA
+# UART5 (RX only, for ESC telem)
+PB8 UART5_RX UART5 NODMA
 
 # USART6 (RC input), SERIAL7
 PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
index fb6104b001..6f69658a7a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
@@ -97,7 +97,7 @@ define HAL_GPIO_B_LED_PIN 90
 define HAL_GPIO_LED_OFF 1
 
 # order of UARTs (and USB)
-SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
+SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 OTG2
 
 # USART1 (telem2)
 PA10 USART1_RX USART1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 6d989c8d90..8e8434ca7f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1154,7 +1154,7 @@ def write_UART_config(f):
     f.write('\n// UART configuration\n')
 
     # write out driver declarations for HAL_ChibOS_Class.cpp
-    devnames = "ABCDEFGH"
+    devnames = "ABCDEFGHI"
     sdev = 0
     idx = 0
     num_empty_uarts = 0
@@ -1262,8 +1262,8 @@ def write_UART_config(f):
     num_uarts = len(devlist)
     if 'IOMCU_UART' in config:
         num_uarts -= 1
-    if num_uarts > 8:
-        error("Exceeded max num UARTs of 8 (%u)" % num_uarts)
+    if num_uarts > 9:
+        error("Exceeded max num UARTs of 9 (%u)" % num_uarts)
     f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % (num_uarts+num_empty_uarts))