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ChibiOS: enable UART FIFO on H7 and G4 by default #17959

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merged 5 commits into from
Jul 15, 2021
Merged

ChibiOS: enable UART FIFO on H7 and G4 by default #17959

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069836c
AP_HAL: added serial option for disabling FIFO on uarts
tridge Jul 7, 2021
1203ac7
HAL_ChibiOS: implement NOFIFO option for uarts
tridge Jul 7, 2021
0d91cdc
AP_SerialManager: call set_options() before first UART use
tridge Jul 7, 2021
696993e
AP_SerialManager: document DisableFIFO bit
tridge Jul 7, 2021
34aaa5e
HAL_ChibiOS: raise DMA contention threshold for H7
tridge Jul 7, 2021
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1 change: 1 addition & 0 deletions libraries/AP_HAL/UARTDriver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,7 @@ class AP_HAL::UARTDriver : public AP_HAL::BetterStream {
OPTION_NODMA_RX = (1U<<8), // don't use DMA for RX
OPTION_NODMA_TX = (1U<<9), // don't use DMA for TX
OPTION_MAVLINK_NO_FORWARD = (1U<<10), // don't forward MAVLink data to or from this device
OPTION_NOFIFO = (1U<<11), // disable hardware FIFO
};

enum flow_control {
Expand Down
18 changes: 17 additions & 1 deletion libraries/AP_HAL_ChibiOS/UARTDriver.cpp
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Expand Up @@ -308,6 +308,16 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
#endif

#if defined(USART_CR1_FIFOEN)
// enable the UART FIFO on G4 and H7. This allows for much higher baudrates
// without data loss when not using DMA
if (_last_options & OPTION_NOFIFO) {
_cr1_options &= ~USART_CR1_FIFOEN;
} else {
_cr1_options |= USART_CR1_FIFOEN;
}
#endif

/*
allocate the write buffer
*/
Expand Down Expand Up @@ -899,7 +909,13 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
chEvtGetAndClearEvents(EVT_TRANSMIT_DMA_COMPLETE);

if (dma_handle->has_contention()) {
if (_baudrate <= 115200) {
// on boards with a hw fifo we can use a higher threshold for disabling DMA
#if defined(USART_CR1_FIFOEN)
const uint32_t baud_threshold = 460800;
#else
const uint32_t baud_threshold = 115200;
#endif
if (_baudrate <= baud_threshold) {
contention_counter += 3;
if (contention_counter > 1000) {
// more than 25% of attempts to use this DMA
Expand Down
24 changes: 15 additions & 9 deletions libraries/AP_SerialManager/AP_SerialManager.cpp
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Expand Up @@ -231,7 +231,7 @@ 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("1_OPTIONS", 14, AP_SerialManager, state[1].options, 0),
Expand All @@ -241,7 +241,7 @@ 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("2_OPTIONS", 15, AP_SerialManager, state[2].options, 0),
Expand All @@ -251,7 +251,7 @@ 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("3_OPTIONS", 16, AP_SerialManager, state[3].options, 0),
Expand All @@ -261,7 +261,7 @@ 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("4_OPTIONS", 17, AP_SerialManager, state[4].options, 0),
Expand All @@ -271,7 +271,7 @@ 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("5_OPTIONS", 18, AP_SerialManager, state[5].options, 0),
Expand All @@ -281,7 +281,7 @@ 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("6_OPTIONS", 19, AP_SerialManager, state[6].options, 0),
Expand Down Expand Up @@ -328,7 +328,7 @@ 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("7_OPTIONS", 25, AP_SerialManager, state[7].options, 0),
Expand All @@ -353,7 +353,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 8_OPTIONS
// @DisplayName: Serial8 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, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from
// @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, 10: Don't forward mavlink to/from, 11: DisableFIFO
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("8_OPTIONS", 28, AP_SerialManager, state[8].options, 0),
Expand Down Expand Up @@ -569,7 +569,13 @@ AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol,
return nullptr;
}
const uint8_t serial_idx = _state - &state[0];
return hal.serial(serial_idx);

// set options before any user does begin()
AP_HAL::UARTDriver *port = hal.serial(serial_idx);
if (port) {
port->set_options(_state->options);
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}
return port;
}

// find_baudrate - searches available serial ports for the first instance that allows the given protocol
Expand Down