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HAL_ChibiOS: added ALT(1) configs for more boards #13157

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merged 5 commits into from
Jan 3, 2020
Merged

HAL_ChibiOS: added ALT(1) configs for more boards #13157

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8c33584
HAL_ChibiOS: added ALT(1) configs for more boards
tridge Jan 2, 2020
91d391f
HAL_ChibiOS: added max uarts check
tridge Jan 3, 2020
8c007fd
AP_HAL: define more UART option bits
tridge Jan 3, 2020
cd6f1f4
HAL_ChibiOS: implement new UART option bits
tridge Jan 3, 2020
4c7f9b2
AP_SerialManager: implement new UART option bits
tridge Jan 3, 2020
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16 changes: 11 additions & 5 deletions libraries/AP_HAL/UARTDriver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,14 +49,20 @@ class AP_HAL::UARTDriver : public AP_HAL::BetterStream {
virtual int16_t read_locked(uint32_t key) { return -1; }

// control optional features
virtual bool set_options(uint8_t options) { return options==0; }
virtual bool set_options(uint16_t options) { return options==0; }
virtual uint8_t get_options(void) const { return 0; }

enum {
OPTION_RXINV=(1U<<0), // invert RX line
OPTION_TXINV=(1U<<1), // invert TX line
OPTION_HDPLEX=(1U<<2), // half-duplex (one-wire) mode
OPTION_SWAP=(1U<<3), // swap RX and TX pins
OPTION_RXINV = (1U<<0), // invert RX line
OPTION_TXINV = (1U<<1), // invert TX line
OPTION_HDPLEX = (1U<<2), // half-duplex (one-wire) mode
OPTION_SWAP = (1U<<3), // swap RX and TX pins
OPTION_PULLDOWN_RX = (1U<<4), // apply pulldown to RX
OPTION_PULLUP_RX = (1U<<5), // apply pullup to RX
OPTION_PULLDOWN_TX = (1U<<6), // apply pulldown to TX
OPTION_PULLUP_TX = (1U<<7), // apply pullup to TX
OPTION_NODMA_RX = (1U<<8), // don't use DMA for RX
OPTION_NODMA_TX = (1U<<9), // don't use DMA for TX
};

enum flow_control {
Expand Down
39 changes: 32 additions & 7 deletions libraries/AP_HAL_ChibiOS/UARTDriver.cpp
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Expand Up @@ -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;
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
7 changes: 5 additions & 2 deletions libraries/AP_HAL_ChibiOS/UARTDriver.h
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Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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 *);
};
10 changes: 7 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
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Expand Up @@ -99,9 +99,13 @@ PB10 USART3_TX USART3
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA

# USART6, RX only for RCIN
PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
PC6 USART6_TX USART6 NODMA LOW
# RC input defaults to timer capture
PC7 TIM8_CH2 TIM8 RCININT PULLDOWN

# alternative config using USART for protocols
# like FPort
PC7 USART6_RX USART6 NODMA ALT(1)
PC6 USART6_TX USART6 NODMA

# UART7 USED BY ESC FROM ORIGINAL DESIGN
PE7 UART7_RX UART7
Expand Down
10 changes: 7 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
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Expand Up @@ -99,9 +99,13 @@ PB10 USART3_TX USART3
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA

# USART6, RX only for RCIN
PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
PC6 USART6_TX USART6 NODMA LOW
# RC input defaults to timer capture
PC7 TIM8_CH2 TIM8 RCININT PULLDOWN
PC6 USART6_TX USART6 NODMA

# alt config to allow RCIN on UART for bi-directional
# protocols like FPort
PC7 USART6_RX USART6 NODMA ALT(1)

# UART7, RX only for ESC Telemetry
PE7 UART7_RX UART7
Expand Down
10 changes: 6 additions & 4 deletions libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
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Expand Up @@ -48,7 +48,7 @@ STM32_VDD 330U
I2C_ORDER I2C1 I2C2

# order of UARTs
UART_ORDER OTG1 USART3 USART1 EMPTY UART4 UART5 USART6
UART_ORDER OTG1 USART3 USART1 EMPTY UART4 UART5 USART6 USART2

#################################################
### PIN DEFINITIONS ###
Expand All @@ -57,11 +57,13 @@ UART_ORDER OTG1 USART3 USART1 EMPTY UART4 UART5 USART6
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# USART 2 is used for RC Input
# PA2 USART2_TX USART2
# PA3 USART2_RX USART2
# default to timer for RC input
PA3 TIM2_CH4 TIM2 RCININT FLOAT LOW

# alternative using USART2
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA ALT(1)

PA4 MPU_CS CS

# IMU SPI
Expand Down
12 changes: 6 additions & 6 deletions libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
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Expand Up @@ -28,7 +28,7 @@ STM32_VDD 330U
I2C_ORDER I2C1

# order of UARTs (and USB)
UART_ORDER OTG1 USART1 USART3 UART4 UART5
UART_ORDER OTG1 USART1 USART3 UART4 UART5 USART2

# LEDs
PB9 LED_BLUE OUTPUT LOW GPIO(0)
Expand Down Expand Up @@ -88,12 +88,12 @@ define BOARD_RSSI_ANA_PIN 9
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# USART2 (RCIN)
#PA2 USART3_TX USART3
#PA3 USART3_RX USART3
# RC input using timer
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN

# rcinput
PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW
# alternative RC input using UART
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA ALT(1)

# USART3
PC10 USART3_TX USART3
Expand Down
9 changes: 6 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
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Expand Up @@ -34,7 +34,7 @@ STM32_VDD 330U
I2C_ORDER I2C2

# order of UARTs (and USB)
UART_ORDER OTG1 USART6 USART1 USART3
UART_ORDER OTG1 USART6 USART1 USART3 USART2

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
Expand Down Expand Up @@ -94,8 +94,11 @@ IMU Invensense SPI:mpu6500 ROTATION_YAW_90
PA10 USART1_RX USART1
PA9 USART1_TX USART1

# USART2 for RC input, RX only
PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW
# RC input using timer by default
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN

# alternative RC input using USART2
PA3 USART2_RX USART2 NODMA ALT(1)

# USART3
PD9 USART3_RX USART3
Expand Down
9 changes: 7 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
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Expand Up @@ -36,7 +36,7 @@ FLASH_RESERVE_END_KB 0
I2C_ORDER I2C1 I2C2

# order of UARTs (and USB)
UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7
UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7 USART6

# UART4 is GPS
PA0 UART4_TX UART4
Expand Down Expand Up @@ -110,7 +110,12 @@ PC2 BAT_VOLT_SENS ADC1
PC3 FMU_ADC1 ADC1
PC4 FMU_ADC2 ADC1
PC5 FMU_ADC3 ADC1
PC6 TIM8_CH1 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC

# RC input default to timer
PC6 TIM8_CH1 TIM8 RCININT PULLDOWN

# alternative RC input using USART6
PC6 USART6_TX USART6 NODMA ALT(1)

PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
Expand Down
9 changes: 7 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
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Expand Up @@ -28,7 +28,7 @@ STM32_VDD 330U
I2C_ORDER I2C2 I2C1

# order of UARTs (and USB)
UART_ORDER OTG1 UART4 USART3 USART2
UART_ORDER OTG1 UART4 USART3 USART2 USART6

# UART4 serial GPS
PA0 UART4_TX UART4
Expand Down Expand Up @@ -74,7 +74,12 @@ PC2 LPS22HB_CS CS
PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT

PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW # also USART6_RX for serial RC
# default to RCIN using timer capture
PC7 TIM8_CH2 TIM8 RCININT PULLDOWN

# alternative using USART6
PC7 USART6_RX USART6 NODMA ALT(1)

PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
Expand Down
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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Expand Up @@ -1122,6 +1122,8 @@ 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)
f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % (num_uarts+num_empty_uarts))


Expand Down
16 changes: 8 additions & 8 deletions libraries/AP_SerialManager/AP_SerialManager.cpp
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Expand Up @@ -195,7 +195,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 1_OPTIONS
// @DisplayName: Telem1 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("1_OPTIONS", 14, AP_SerialManager, state[1].options, 0),
Expand All @@ -205,7 +205,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 2_OPTIONS
// @DisplayName: Telem2 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("2_OPTIONS", 15, AP_SerialManager, state[2].options, 0),
Expand All @@ -215,7 +215,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 3_OPTIONS
// @DisplayName: Serial3 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("3_OPTIONS", 16, AP_SerialManager, state[3].options, 0),
Expand All @@ -225,7 +225,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 4_OPTIONS
// @DisplayName: Serial4 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("4_OPTIONS", 17, AP_SerialManager, state[4].options, 0),
Expand All @@ -235,7 +235,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 5_OPTIONS
// @DisplayName: Serial5 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("5_OPTIONS", 18, AP_SerialManager, state[5].options, 0),
Expand All @@ -245,7 +245,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 6_OPTIONS
// @DisplayName: Serial6 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("6_OPTIONS", 19, AP_SerialManager, state[6].options, 0),
Expand Down Expand Up @@ -292,7 +292,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 7_OPTIONS
// @DisplayName: Serial7 options
// @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap
// @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0),
Expand Down Expand Up @@ -638,7 +638,7 @@ bool AP_SerialManager::protocol_match(enum SerialProtocol protocol1, enum Serial
}

// setup any special options
void AP_SerialManager::set_options(uint8_t i)
void AP_SerialManager::set_options(uint16_t i)
{
struct UARTState &opt = state[i];
// pass through to HAL
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_SerialManager/AP_SerialManager.h
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Expand Up @@ -212,7 +212,7 @@ class AP_SerialManager {
bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;

// setup any special options
void set_options(uint8_t i);
void set_options(uint16_t i);
};

namespace AP {
Expand Down