HAL_ChibiOS: implement new UART option bits

ArduPilot · Jan 3, 2020 · bb5c1d0 · bb5c1d0
1 parent 4eccea2
commit bb5c1d0
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Showing 2 changed files with 37 additions and 9 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -202,13 +202,15 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
     }
 
 #ifndef HAL_UART_NODMA
-    if (rx_bounce_buf[0] == nullptr && sdef.dma_rx) {
-        rx_bounce_buf[0] = (uint8_t *)hal.util->malloc_type(RX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
-    }
-    if (rx_bounce_buf[1] == nullptr && sdef.dma_rx) {
-        rx_bounce_buf[1] = (uint8_t *)hal.util->malloc_type(RX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
+    if (!half_duplex && !(_last_options & OPTION_NODMA_RX)) {
+        if (rx_bounce_buf[0] == nullptr && sdef.dma_rx) {
+            rx_bounce_buf[0] = (uint8_t *)hal.util->malloc_type(RX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
+        }
+        if (rx_bounce_buf[1] == nullptr && sdef.dma_rx) {
+            rx_bounce_buf[1] = (uint8_t *)hal.util->malloc_type(RX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
+        }
     }
-    if (tx_bounce_buf == nullptr && sdef.dma_tx) {
+    if (tx_bounce_buf == nullptr && sdef.dma_tx && !(_last_options & OPTION_NODMA_TX)) {
         tx_bounce_buf = (uint8_t *)hal.util->malloc_type(TX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
         chVTObjectInit(&tx_timeout);
         tx_bounce_buf_ready = true;
@@ -1298,8 +1300,29 @@ uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes)
     return last_receive_us;
 }
 
+/*
+ set user specified PULLUP/PULLDOWN options from SERIALn_OPTIONS
+*/
+void UARTDriver::set_pushpull(uint16_t options)
+{
+#if HAL_USE_SERIAL == TRUE && !defined(STM32F1)
+    if ((options & OPTION_PULLDOWN_RX) && sdef.rx_line) {
+        palLineSetPushPull(sdef.rx_line, PAL_PUSHPULL_PULLDOWN);
+    }
+    if ((options & OPTION_PULLDOWN_TX) && sdef.tx_line) {
+        palLineSetPushPull(sdef.tx_line, PAL_PUSHPULL_PULLDOWN);
+    }
+    if ((options & OPTION_PULLUP_RX) && sdef.rx_line) {
+        palLineSetPushPull(sdef.rx_line, PAL_PUSHPULL_PULLUP);
+    }
+    if ((options & OPTION_PULLUP_TX) && sdef.tx_line) {
+        palLineSetPushPull(sdef.tx_line, PAL_PUSHPULL_PULLUP);
+    }
+#endif
+}
+
 // set optional features, return true on success
-bool UARTDriver::set_options(uint8_t options)
+bool UARTDriver::set_options(uint16_t options)
 {
     if (sdef.is_usb) {
         // no options allowed on USB
@@ -1395,6 +1418,8 @@ bool UARTDriver::set_options(uint8_t options)
         cr3 &= ~USART_CR3_HDSEL;
     }
 
+    set_pushpull(options);
+
     if (sd->usart->CR2 == cr2 &&
         sd->usart->CR3 == cr3) {
         // no change

diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h
@@ -54,7 +54,7 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
     bool lock_port(uint32_t write_key, uint32_t read_key) override;
 
     // control optional features
-    bool set_options(uint8_t options) override;
+    bool set_options(uint16_t options) override;
     uint8_t get_options(void) const override;
 
     // write to a locked port. If port is locked and key is not correct then 0 is returned
@@ -189,7 +189,7 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
     uint32_t _cr1_options;
     uint32_t _cr2_options;
     uint32_t _cr3_options;
-    uint8_t _last_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
@@ -232,6 +232,9 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
 
     void receive_timestamp_update(void);
 
+    // set SERIALn_OPTIONS for pullup/pulldown
+    void set_pushpull(uint16_t options);
+
     void thread_init();
     static void uart_thread(void *);
 };