diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp index a481977b02..65ebdfafda 100644 --- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp +++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp @@ -45,27 +45,27 @@ #endif #ifndef HAL_NO_UARTDRIVER -static HAL_UARTA_DRIVER; -static HAL_UARTB_DRIVER; -static HAL_UARTC_DRIVER; -static HAL_UARTD_DRIVER; -static HAL_UARTE_DRIVER; -static HAL_UARTF_DRIVER; -static HAL_UARTG_DRIVER; -static HAL_UARTH_DRIVER; -static HAL_UARTI_DRIVER; -static HAL_UARTJ_DRIVER; +static HAL_SERIAL0_DRIVER; +static HAL_SERIAL1_DRIVER; +static HAL_SERIAL2_DRIVER; +static HAL_SERIAL3_DRIVER; +static HAL_SERIAL4_DRIVER; +static HAL_SERIAL5_DRIVER; +static HAL_SERIAL6_DRIVER; +static HAL_SERIAL7_DRIVER; +static HAL_SERIAL8_DRIVER; +static HAL_SERIAL9_DRIVER; #else -static Empty::UARTDriver uartADriver; -static Empty::UARTDriver uartBDriver; -static Empty::UARTDriver uartCDriver; -static Empty::UARTDriver uartDDriver; -static Empty::UARTDriver uartEDriver; -static Empty::UARTDriver uartFDriver; -static Empty::UARTDriver uartGDriver; -static Empty::UARTDriver uartHDriver; -static Empty::UARTDriver uartIDriver; -static Empty::UARTDriver uartJDriver; +static Empty::UARTDriver serial0Driver; +static Empty::UARTDriver serial1Driver; +static Empty::UARTDriver serial2Driver; +static Empty::UARTDriver serial3Driver; +static Empty::UARTDriver serial4Driver; +static Empty::UARTDriver serial5Driver; +static Empty::UARTDriver serial6Driver; +static Empty::UARTDriver serial7Driver; +static Empty::UARTDriver serial8Driver; +static Empty::UARTDriver serial9Driver; #endif #if HAL_USE_I2C == TRUE && defined(HAL_I2C_DEVICE_LIST) @@ -136,16 +136,16 @@ AP_IOMCU iomcu(uart_io); HAL_ChibiOS::HAL_ChibiOS() : AP_HAL::HAL( - &uartADriver, - &uartCDriver, // ordering captures the historical use of uartB as SERIAL3 - &uartDDriver, - &uartBDriver, - &uartEDriver, - &uartFDriver, - &uartGDriver, - &uartHDriver, - &uartIDriver, - &uartJDriver, + &serial0Driver, + &serial1Driver, + &serial2Driver, + &serial3Driver, + &serial4Driver, + &serial5Driver, + &serial6Driver, + &serial7Driver, + &serial8Driver, + &serial9Driver, &i2cDeviceManager, &spiDeviceManager, #if HAL_USE_WSPI == TRUE && defined(HAL_WSPI_DEVICE_LIST) @@ -155,7 +155,7 @@ HAL_ChibiOS::HAL_ChibiOS() : #endif &analogIn, &storageDriver, - &uartADriver, + &serial0Driver, &gpioDriver, &rcinDriver, &rcoutDriver, diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp index 911688f643..6593dffe7e 100644 --- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp +++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp @@ -52,13 +52,13 @@ using namespace ChibiOS; extern ChibiOS::UARTDriver uart_io; #endif -const UARTDriver::SerialDef UARTDriver::_serial_tab[] = { HAL_UART_DEVICE_LIST }; +const UARTDriver::SerialDef UARTDriver::_serial_tab[] = { HAL_SERIAL_DEVICE_LIST }; // handle for UART handling thread thread_t* volatile UARTDriver::uart_rx_thread_ctx; // table to find UARTDrivers from serial number, used for event handling -UARTDriver *UARTDriver::uart_drivers[UART_MAX_DRIVERS]; +UARTDriver *UARTDriver::serial_drivers[UART_MAX_DRIVERS]; // event used to wake up waiting thread. This event number is for // caller threads @@ -104,8 +104,8 @@ serial_num(_serial_num), sdef(_serial_tab[_serial_num]), _baudrate(57600) { - osalDbgAssert(serial_num < UART_MAX_DRIVERS, "too many UART drivers"); - uart_drivers[serial_num] = this; + osalDbgAssert(serial_num < UART_MAX_DRIVERS, "too many SERIALn drivers"); + serial_drivers[serial_num] = this; } /* @@ -166,11 +166,11 @@ void UARTDriver::uart_rx_thread(void* arg) hal.scheduler->delay_microseconds(1000); for (uint8_t i=0; i_rx_initialised) { - uart_drivers[i]->_rx_timer_tick(); + if (serial_drivers[i]->_rx_initialised) { + serial_drivers[i]->_rx_timer_tick(); } } } diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h index 16cac8f8d0..1a045fa9e7 100644 --- a/libraries/AP_HAL_ChibiOS/UARTDriver.h +++ b/libraries/AP_HAL_ChibiOS/UARTDriver.h @@ -25,7 +25,7 @@ #define RX_BOUNCE_BUFSIZE 64U #define TX_BOUNCE_BUFSIZE 64U -// enough for uartA to uartJ, plus IOMCU +// enough for serial0 to serial9, plus IOMCU #define UART_MAX_DRIVERS 11 class ChibiOS::UARTDriver : public AP_HAL::UARTDriver { @@ -148,13 +148,13 @@ private: static thread_t* volatile uart_rx_thread_ctx; // table to find UARTDrivers from serial number, used for event handling - static UARTDriver *uart_drivers[UART_MAX_DRIVERS]; + 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 uart_drivers table + // index into serial_drivers table uint8_t serial_num; uint32_t _baudrate; diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py index 4f0d98d5b1..dab87f0af3 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py @@ -111,9 +111,6 @@ class ChibiOSHWDef(object): self.dma_exclude_pattern = [] - # map from uart names to SERIALn numbers - self.uart_serial_num = {} - self.mcu_type = None self.dual_USB_enabled = False @@ -1817,75 +1814,51 @@ INCLUDE common.ld return default return p.extra_value(name, type=str, default=default) - def get_UART_ORDER(self): - '''get UART_ORDER from SERIAL_ORDER option''' - if self.get_config('UART_ORDER', required=False, aslist=True) is not None: - self.error('Please convert UART_ORDER to SERIAL_ORDER') - serial_order = self.get_config('SERIAL_ORDER', required=False, aslist=True) - if serial_order is None: - return None - if args.bootloader: - # in bootloader SERIAL_ORDER is treated the same as UART_ORDER - return serial_order - map = [0, 3, 1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12] - while len(serial_order) < 4: - serial_order += ['EMPTY'] - uart_order = [] - for i in range(len(serial_order)): - uart_order.append(serial_order[map[i]]) - self.uart_serial_num[serial_order[i]] = i - return uart_order - def write_UART_config(self, f): '''write UART config defines''' - uart_list = self.get_UART_ORDER() - if uart_list is None: + serial_list = self.get_config('SERIAL_ORDER', required=False, aslist=True) + if serial_list is None: return + while len(serial_list) < 3: # enough ports for CrashCatcher UART discovery + serial_list += ['EMPTY'] f.write('\n// UART configuration\n') # write out which serial ports we actually have - idx = 0 nports = 0 - serial_order = self.get_config('SERIAL_ORDER', required=False, aslist=True) - for serial in serial_order: + for idx, serial in enumerate(serial_list): if serial == 'EMPTY': f.write('#define HAL_HAVE_SERIAL%u 0\n' % idx) else: f.write('#define HAL_HAVE_SERIAL%u 1\n' % idx) nports = nports + 1 - idx += 1 f.write('#define HAL_NUM_SERIAL_PORTS %u\n' % nports) # write out driver declarations for HAL_ChibOS_Class.cpp - devnames = "ABCDEFGHIJ" sdev = 0 - idx = 0 - for dev in uart_list: + for idx, dev in enumerate(serial_list): if dev == 'EMPTY': - f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' % - (devnames[idx], devnames[idx])) + f.write('#define HAL_SERIAL%s_DRIVER Empty::UARTDriver serial%sDriver\n' % + (idx, idx)) sdev += 1 else: f.write( - '#define HAL_UART%s_DRIVER ChibiOS::UARTDriver uart%sDriver(%u)\n' - % (devnames[idx], devnames[idx], sdev)) + '#define HAL_SERIAL%s_DRIVER ChibiOS::UARTDriver serial%sDriver(%u)\n' + % (idx, idx, sdev)) sdev += 1 - idx += 1 - for idx in range(len(uart_list), len(devnames)): - f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' % - (devnames[idx], devnames[idx])) + for idx in range(len(serial_list), 10): + f.write('#define HAL_SERIAL%s_DRIVER Empty::UARTDriver serial%sDriver\n' % + (idx, idx)) if 'IOMCU_UART' in self.config: if 'io_firmware.bin' not in self.romfs: self.error("Need io_firmware.bin in ROMFS for IOMCU") f.write('#define HAL_WITH_IO_MCU 1\n') - idx = len(uart_list) - f.write('#define HAL_UART_IOMCU_IDX %u\n' % idx) + f.write('#define HAL_UART_IOMCU_IDX %u\n' % len(serial_list)) f.write( '#define HAL_UART_IO_DRIVER ChibiOS::UARTDriver uart_io(HAL_UART_IOMCU_IDX)\n' ) - uart_list.append(self.config['IOMCU_UART'][0]) + serial_list.append(self.config['IOMCU_UART'][0]) f.write('#define HAL_HAVE_SERVO_VOLTAGE 1\n') # make the assumption that IO gurantees servo monitoring # all IOMCU capable boards have SBUS out f.write('#define AP_FEATURE_SBUS_OUT 1\n') @@ -1900,17 +1873,17 @@ INCLUDE common.ld crash_uart = None # write config for CrashCatcher UART - if not uart_list[0].startswith('OTG') and not uart_list[0].startswith('EMPTY'): - crash_uart = uart_list[0] - elif not uart_list[2].startswith('OTG') and not uart_list[2].startswith('EMPTY'): - crash_uart = uart_list[2] + if not serial_list[0].startswith('OTG') and not serial_list[0].startswith('EMPTY'): + crash_uart = serial_list[0] + elif not serial_list[2].startswith('OTG') and not serial_list[2].startswith('EMPTY'): + crash_uart = serial_list[2] if crash_uart is not None and self.get_config('FLASH_SIZE_KB', type=int) >= 2048: f.write('#define HAL_CRASH_SERIAL_PORT %s\n' % crash_uart) f.write('#define IRQ_DISABLE_HAL_CRASH_SERIAL_PORT() nvicDisableVector(STM32_%s_NUMBER)\n' % crash_uart) f.write('#define RCC_RESET_HAL_CRASH_SERIAL_PORT() rccReset%s(); rccEnable%s(true)\n' % (crash_uart, crash_uart)) f.write('#define HAL_CRASH_SERIAL_PORT_CLOCK STM32_%sCLK\n' % crash_uart) - for dev in uart_list: + for num, dev in enumerate(serial_list): if dev.startswith('UART'): n = int(dev[4:]) elif dev.startswith('USART'): @@ -1921,7 +1894,7 @@ INCLUDE common.ld devlist.append('{}') continue else: - self.error("Invalid element %s in UART_ORDER" % dev) + self.error("Invalid element %s in SERIAL_ORDER" % dev) devlist.append('HAL_%s_CONFIG' % dev) tx_line = self.make_line(dev + '_TX') rx_line = self.make_line(dev + '_RX') @@ -1929,12 +1902,12 @@ INCLUDE common.ld cts_line = self.make_line(dev + '_CTS') if rts_line != "0": have_rts_cts = True - f.write('#define HAL_HAVE_RTSCTS_SERIAL%u\n' % self.uart_serial_num[dev]) + f.write('#define HAL_HAVE_RTSCTS_SERIAL%u\n' % num) if dev.startswith('OTG2'): f.write( '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2}\n' % dev) # noqa - OTG2_index = uart_list.index(dev) + OTG2_index = serial_list.index(dev) self.dual_USB_enabled = True elif dev.startswith('OTG'): f.write( @@ -1971,44 +1944,44 @@ INCLUDE common.ld #endif ''' % (OTG2_index, OTG2_index)) - f.write('#define HAL_UART_DEVICE_LIST %s\n\n' % ','.join(devlist)) + f.write('#define HAL_SERIAL_DEVICE_LIST %s\n\n' % ','.join(devlist)) if not need_uart_driver and not args.bootloader: f.write(''' #ifndef HAL_USE_SERIAL #define HAL_USE_SERIAL HAL_USE_SERIAL_USB #endif ''') - num_uarts = len(devlist) + num_ports = len(devlist) if 'IOMCU_UART' in self.config: - num_uarts -= 1 - if num_uarts > 10: - self.error("Exceeded max num UARTs of 10 (%u)" % num_uarts) - f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % num_uarts) + num_ports -= 1 + if num_ports > 10: + self.error("Exceeded max num SERIALs of 10 (%u)" % num_ports) + f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % num_ports) def write_UART_config_bootloader(self, f): '''write UART config defines''' - uart_list = self.get_UART_ORDER() - if uart_list is None: + serial_list = self.get_config('SERIAL_ORDER', required=False, aslist=True) + if serial_list is None: return f.write('\n// UART configuration\n') devlist = [] - have_uart = False + have_serial = False OTG2_index = None - for u in uart_list: - if u.startswith('OTG2'): + for s in serial_list: + if s.startswith('OTG2'): devlist.append('(BaseChannel *)&SDU2') - OTG2_index = uart_list.index(u) - elif u.startswith('OTG'): + OTG2_index = serial_list.index(s) + elif s.startswith('OTG'): devlist.append('(BaseChannel *)&SDU1') else: - unum = int(u[-1]) - devlist.append('(BaseChannel *)&SD%u' % unum) - have_uart = True + snum = int(s[-1]) + devlist.append('(BaseChannel *)&SD%u' % snum) + have_serial = True if len(devlist) > 0: f.write('#define BOOTLOADER_DEV_LIST %s\n' % ','.join(devlist)) if OTG2_index is not None: f.write('#define HAL_OTG2_UART_INDEX %d\n' % OTG2_index) - if not have_uart: + if not have_serial: f.write(''' #ifndef HAL_USE_SERIAL #define HAL_USE_SERIAL FALSE diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_uart_order.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_uart_order.py deleted file mode 100755 index d502d91f61..0000000000 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_uart_order.py +++ /dev/null @@ -1,37 +0,0 @@ -#!/usr/bin/env python -''' -convert UART_ORDER in a hwdef.dat into a SERIAL_ORDER -''' - -import sys, shlex - -def convert_file(fname): - lines = open(fname, 'r').readlines() - for i in range(len(lines)): - if lines[i].startswith('SERIAL_ORDER'): - print("Already has SERIAL_ORDER: %s" % fname) - return - - for i in range(len(lines)): - line = lines[i] - if not line.startswith('UART_ORDER'): - continue - a = shlex.split(line, posix=False) - if a[0] != 'UART_ORDER': - continue - uart_order = a[1:] - if not fname.endswith('-bl.dat'): - while len(uart_order) < 4: - uart_order += ['EMPTY'] - a += ['EMPTY'] - map = [ 0, 2, 3, 1, 4, 5, 6, 7, 8, 9, 10, 11, 12 ] - for j in range(len(uart_order)): - a[j+1] = uart_order[map[j]] - a[0] = 'SERIAL_ORDER' - print("%s new order " % fname, a) - lines[i] = ' '.join(a) + '\n' - open(fname, 'w').write(''.join(lines)) - -files=sys.argv[1:] -for fname in files: - convert_file(fname)