AP_HAL_ChibiOS: hwdef.py: find alt function for UART RTS and add to i…

…nit struct
ArduPilot · May 27, 2024 · e6a0abd · e6a0abd
1 parent 0959930
commit e6a0abd
Showing 1 changed file with 28 additions and 4 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1885,20 +1885,21 @@ def write_UART_config(self, f):
             devlist.append('HAL_%s_CONFIG' % dev)
             tx_line = self.make_line(dev + '_TX')
             rx_line = self.make_line(dev + '_RX')
-            rts_line = self.make_line(dev + '_RTS')
+            rts_line_name = dev + '_RTS'
+            rts_line = self.make_line(rts_line_name)
             cts_line = self.make_line(dev + '_CTS')
             if rts_line != "0":
                 have_rts_cts = True
                 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
+                    '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, UINT8_MAX}\n' % dev)  # noqa
                 OTG2_index = serial_list.index(dev)
                 self.dual_USB_enabled = True
             elif dev.startswith('OTG'):
                 f.write(
-                    '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, 1, true, false, 0, 0, false, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}\n' % dev)  # noqa
+                    '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, 1, true, false, 0, 0, false, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, UINT8_MAX}\n' % dev)  # noqa
             else:
                 need_uart_driver = True
                 f.write(
@@ -1914,7 +1915,30 @@ def write_UART_config(self, f):
                 f.write("%d, " % self.get_gpio_bylabel(dev + "_RXINV"))
                 f.write("%s, " % self.get_extra_bylabel(dev + "_RXINV", "POL", "0"))
                 f.write("%d, " % self.get_gpio_bylabel(dev + "_TXINV"))
-                f.write("%s, 0}\n" % self.get_extra_bylabel(dev + "_TXINV", "POL", "0"))
+                f.write("%s, " % self.get_extra_bylabel(dev + "_TXINV", "POL", "0"))
+
+                # USB endpoint ID, not used
+                f.write("0, ") 
+
+                # Find and add RTS alt fuction number if avalable
+                def get_RTS_alt_function():
+                    # Typicaly we do software RTS control, so there is no requirement for the pin to have valid UART RTS alternative function
+                    # If it does this enables hardware flow control for RS-485
+                    lib = self.get_mcu_lib(self.mcu_type)
+                    if (rts_line == "0") or (rts_line_name not in self.bylabel) or not hasattr(lib, "AltFunction_map"):
+                        # No pin, 0 is a valid alt function, use UINT8_MAX for invalid
+                        return "UINT8_MAX"
+
+                    pin = self.bylabel[rts_line_name]
+                    for label in self.af_labels:
+                        if rts_line_name.startswith(label):
+                            s = pin.portpin + ":" + rts_line_name
+                            if s not in lib.AltFunction_map:
+                                return "UINT8_MAX"
+                            return lib.AltFunction_map[s]
+
+                f.write("%s}\n" % get_RTS_alt_function())
+
         if have_rts_cts:
             f.write('#define AP_FEATURE_RTSCTS 1\n')
         if OTG2_index is not None: