From edc12c28571d8bd70b929d4ce793b0537bd4eb99 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 15 Mar 2024 14:20:43 +0000
Subject: [PATCH] AP_HAL_ChibiOS: use new UART stats tracking helper moving
 history up to util

---
 libraries/AP_HAL_ChibiOS/UARTDriver.cpp | 17 ++++++++---------
 libraries/AP_HAL_ChibiOS/UARTDriver.h   |  3 +--
 libraries/AP_HAL_ChibiOS/Util.cpp       |  9 +++++++--
 libraries/AP_HAL_ChibiOS/Util.h         | 12 +++++++++++-
 4 files changed, 27 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
index a04537fdbd..069f64085f 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -1696,9 +1696,11 @@ uint16_t UARTDriver::get_options(void) const
 
 #if HAL_UART_STATS_ENABLED
 // request information on uart I/O for @SYS/uarts.txt for this uart
-void UARTDriver::uart_info(ExpandingString &str)
+void UARTDriver::uart_info(ExpandingString &str, StatsTracker &stats, const uint32_t dt_ms)
 {
-    uint32_t now_ms = AP_HAL::millis();
+    const uint32_t tx_bytes = stats.tx.update(_tx_stats_bytes);
+    const uint32_t rx_bytes = stats.rx.update(_rx_stats_bytes);
+
     if (sdef.is_usb) {
         str.printf("OTG%u  ", unsigned(sdef.instance));
     } else {
@@ -1706,14 +1708,11 @@ void UARTDriver::uart_info(ExpandingString &str)
     }
     str.printf("TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u\n",
                tx_dma_enabled ? '*' : ' ',
-               unsigned(_tx_stats_bytes),
+               unsigned(tx_bytes),
                rx_dma_enabled ? '*' : ' ',
-               unsigned(_rx_stats_bytes),
-               unsigned(_tx_stats_bytes * 10000 / (now_ms - _last_stats_ms)),
-               unsigned(_rx_stats_bytes * 10000 / (now_ms - _last_stats_ms)));
-    _tx_stats_bytes = 0;
-    _rx_stats_bytes = 0;
-    _last_stats_ms = now_ms;
+               unsigned(rx_bytes),
+               unsigned((tx_bytes * 10000) / dt_ms),
+               unsigned((rx_bytes * 10000) / dt_ms));
 }
 #endif
 
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h
index 1a045fa9e7..3c49965a96 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.h
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.h
@@ -123,7 +123,7 @@ public:
 
 #if HAL_UART_STATS_ENABLED
     // request information on uart I/O for one uart
-    void uart_info(ExpandingString &str) override;
+    void uart_info(ExpandingString &str, StatsTracker &stats, const uint32_t dt_ms) override;
 #endif
 
     /*
@@ -209,7 +209,6 @@ private:
     // statistics
     uint32_t _tx_stats_bytes;
     uint32_t _rx_stats_bytes;
-    uint32_t _last_stats_ms;
 
     // we remember config options from set_options to apply on sdStart()
     uint32_t _cr1_options;
diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index e6a4af4110..8deec9fda1 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -682,18 +682,23 @@ extern ChibiOS::UARTDriver uart_io;
 // request information on uart I/O
 void Util::uart_info(ExpandingString &str)
 {
+    // Calculate time since last call
+    const uint32_t now_ms = AP_HAL::millis();
+    const uint32_t dt_ms = now_ms - uart_stats.last_ms;
+    uart_stats.last_ms = now_ms;
+
     // a header to allow for machine parsers to determine format
     str.printf("UARTV1\n");
     for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
         auto *uart = hal.serial(i);
         if (uart) {
             str.printf("SERIAL%u ", i);
-            uart->uart_info(str);
+            uart->uart_info(str, uart_stats.serial[i], dt_ms);
         }
     }
 #if HAL_WITH_IO_MCU
     str.printf("IOMCU   ");
-    uart_io.uart_info(str);
+    uart_io.uart_info(str, uart_stats.io, dt_ms);
 #endif
 }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index 5af64e1c77..7b927ca4fd 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -98,7 +98,7 @@ public:
 #endif
 #if HAL_UART_STATS_ENABLED
     // request information on uart I/O
-    virtual void uart_info(ExpandingString &str) override;
+    void uart_info(ExpandingString &str) override;
 #endif
 #if HAL_USE_PWM == TRUE
     void timer_info(ExpandingString &str) override;
@@ -161,4 +161,14 @@ private:
 #if HAL_ENABLE_DFU_BOOT
     void boot_to_dfu() override;
 #endif
+
+#if HAL_UART_STATS_ENABLED
+    struct {
+        AP_HAL::UARTDriver::StatsTracker serial[HAL_UART_NUM_SERIAL_PORTS];
+#if HAL_WITH_IO_MCU
+        AP_HAL::UARTDriver::StatsTracker io;
+#endif
+        uint32_t last_ms;
+    } uart_stats;
+#endif
 };