#include <UARTDriver.h>

Inheritance diagram for ChibiOS::UARTDriver:

Collaboration diagram for ChibiOS::UARTDriver:

Classes
struct	SerialDef

Public Member Functions
	UARTDriver (uint8_t serial_num)

void	begin (uint32_t b)

void	begin (uint32_t b, uint16_t rxS, uint16_t txS)

void	end ()

void	flush ()

bool	is_initialized ()

void	set_blocking_writes (bool blocking)

bool	tx_pending ()

uint32_t	available () override

uint32_t	txspace () override

int16_t	read () override

void	_timer_tick (void) override

size_t	write (uint8_t c)

size_t	write (const uint8_t *buffer, size_t size)

bool	lock_port (uint32_t key) override

size_t	write_locked (const uint8_t *buffer, size_t size, uint32_t key) override

bool	wait_timeout (uint16_t n, uint32_t timeout_ms) override

void	set_flow_control (enum flow_control flow_control) override

enum flow_control	get_flow_control (void) override

bool	set_unbuffered_writes (bool on) override

void	configure_parity (uint8_t v) override

void	set_stop_bits (int n) override

uint64_t	receive_time_constraint_us (uint16_t nbytes) override

Public Member Functions inherited from AP_HAL::UARTDriver
	UARTDriver ()

virtual void	set_flow_control (enum flow_control flow_control_setting)

Public Member Functions inherited from AP_HAL::BetterStream
virtual void	printf (const char *,...) FMT_PRINTF(2

virtual void virtual void	vprintf (const char *, va_list)

void	print (const char *str)

void	println (const char *str)

size_t	write (const char *str)

Private Member Functions
void	dma_tx_allocate (Shared_DMA *ctx)

void	dma_tx_deallocate (Shared_DMA *ctx)

void	update_rts_line (void)

void	check_dma_tx_completion (void)

void	write_pending_bytes_DMA (uint32_t n)

void	write_pending_bytes_NODMA (uint32_t n)

void	write_pending_bytes (void)

void	receive_timestamp_update (void)

void	thread_init ()

Static Private Member Functions
static void	rx_irq_cb (void *sd)

static void	rxbuff_full_irq (void *self, uint32_t flags)

static void	tx_complete (void *self, uint32_t flags)

static void	uart_thread (void *)

Private Attributes
bool	tx_bounce_buf_ready

const SerialDef &	sdef

uint8_t	serial_num

uint32_t	lock_key

uint32_t	_baudrate

uint16_t	tx_len

SerialConfig	sercfg

const thread_t *	_uart_owner_thd

struct {
thread_t * thread_ctx

uint16_t n

}	_wait

uint8_t	rx_bounce_buf [RX_BOUNCE_BUFSIZE]

uint8_t	tx_bounce_buf [TX_BOUNCE_BUFSIZE]

ByteBuffer	_readbuf {0}

ByteBuffer	_writebuf {0}

Semaphore	_write_mutex

const stm32_dma_stream_t *	rxdma

const stm32_dma_stream_t *	txdma

bool	_in_timer

bool	_blocking_writes

bool	_initialised

bool	_device_initialised

bool	_lock_rx_in_timer_tick = false

Shared_DMA *	dma_handle

uint64_t	_receive_timestamp [2]

uint8_t	_receive_timestamp_idx

enum flow_control	_flow_control = FLOW_CONTROL_DISABLE

bool	_rts_is_active

uint32_t	_last_write_completed_us

uint32_t	_first_write_started_us

bool	unbuffered_writes

Static Private Attributes
static thread_t *	uart_thread_ctx

static uint32_t	last_thread_run_us

static UARTDriver *	uart_drivers [UART_MAX_DRIVERS]

static const SerialDef	_serial_tab [] = { HAL_UART_DEVICE_LIST }

Additional Inherited Members
Public Types inherited from AP_HAL::UARTDriver
enum	flow_control { FLOW_CONTROL_DISABLE =0, FLOW_CONTROL_ENABLE =1, FLOW_CONTROL_AUTO =2 }

Detailed Description

Definition at line 30 of file UARTDriver.h.

Constructor & Destructor Documentation

◆ UARTDriver()

UARTDriver::UARTDriver ( uint8_t serial_num )

Definition at line 55 of file UARTDriver.cpp.

Member Function Documentation

◆ _timer_tick()

void UARTDriver::_timer_tick ( void )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 727 of file UARTDriver.cpp.

Referenced by uart_thread().

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◆ available()

uint32_t UARTDriver::available ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 436 of file UARTDriver.cpp.

Referenced by receive_time_constraint_us(), and wait_timeout().

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◆ begin() [1/2]

void UARTDriver::begin ( uint32_t b )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 387 of file UARTDriver.cpp.

◆ begin() [2/2]

void UARTDriver::begin	(	uint32_t	baud,
		uint16_t	rxSpace,
		uint16_t	txSpace
	)

virtual

Extended port open method

Allows for both opening with specified buffer sizes, and re-opening to adjust a subset of the port's settings.

Note: Buffer sizes greater than ::_max_buffer_size will be rounded down.

Parameters

baud	Selects the speed that the port will be configured to. If zero, the port speed is left unchanged.
rxSpace	Sets the receive buffer size for the port. If zero then the buffer size is left unchanged if the port is open, or set to ::_default_rx_buffer_size if it is currently closed.
txSpace	Sets the transmit buffer size for the port. If zero then the buffer size is left unchanged if the port is open, or set to ::_default_tx_buffer_size if it is currently closed.

Implements AP_HAL::UARTDriver.

Definition at line 128 of file UARTDriver.cpp.

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◆ check_dma_tx_completion()

void UARTDriver::check_dma_tx_completion ( void )

private

Definition at line 588 of file UARTDriver.cpp.

Referenced by write_pending_bytes(), and write_pending_bytes_DMA().

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◆ configure_parity()

void UARTDriver::configure_parity ( uint8_t v )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 902 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ dma_tx_allocate()

void UARTDriver::dma_tx_allocate ( Shared_DMA * ctx )

private

Definition at line 284 of file UARTDriver.cpp.

Referenced by begin().

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◆ dma_tx_deallocate()

void UARTDriver::dma_tx_deallocate ( Shared_DMA * ctx )

private

Definition at line 304 of file UARTDriver.cpp.

Referenced by begin().

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◆ end()

void UARTDriver::end ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 392 of file UARTDriver.cpp.

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◆ flush()

void UARTDriver::flush ( void )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 411 of file UARTDriver.cpp.

◆ get_flow_control()

enum flow_control ChibiOS::UARTDriver::get_flow_control ( void )

inlineoverridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 76 of file UARTDriver.h.

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◆ is_initialized()

bool UARTDriver::is_initialized ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 423 of file UARTDriver.cpp.

◆ lock_port()

bool UARTDriver::lock_port ( uint32_t key )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 540 of file UARTDriver.cpp.

◆ read()

int16_t UARTDriver::read ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 459 of file UARTDriver.cpp.

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◆ receive_time_constraint_us()

uint64_t UARTDriver::receive_time_constraint_us ( uint16_t nbytes )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 991 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ receive_timestamp_update()

void UARTDriver::receive_timestamp_update ( void )

private

Definition at line 972 of file UARTDriver.cpp.

Referenced by _timer_tick(), and rxbuff_full_irq().

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◆ rx_irq_cb()

void UARTDriver::rx_irq_cb ( void * sd )

staticprivate

Definition at line 332 of file UARTDriver.cpp.

Referenced by begin().

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◆ rxbuff_full_irq()

void UARTDriver::rxbuff_full_irq	(	void *	self,
		uint32_t	flags
	)

staticprivate

Definition at line 354 of file UARTDriver.cpp.

Referenced by begin().

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◆ set_blocking_writes()

void UARTDriver::set_blocking_writes ( bool blocking )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 428 of file UARTDriver.cpp.

◆ set_flow_control()

void ChibiOS::UARTDriver::set_flow_control ( enum flow_control flow_control )

override

Referenced by _timer_tick(), begin(), ChibiOS::UARTDriver::SerialDef::get_index(), and write_pending_bytes().

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◆ set_stop_bits()

void UARTDriver::set_stop_bits ( int n )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 943 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ set_unbuffered_writes()

bool UARTDriver::set_unbuffered_writes ( bool on )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 889 of file UARTDriver.cpp.

Referenced by get_flow_control().

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◆ thread_init()

void UARTDriver::thread_init ( void )

private

Definition at line 100 of file UARTDriver.cpp.

Referenced by begin().

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◆ tx_complete()

void UARTDriver::tx_complete	(	void *	self,
		uint32_t	flags
	)

staticprivate

Definition at line 315 of file UARTDriver.cpp.

Referenced by dma_tx_allocate().

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◆ tx_pending()

bool UARTDriver::tx_pending ( )

virtual

Implements AP_HAL::UARTDriver.

Definition at line 433 of file UARTDriver.cpp.

◆ txspace()

uint32_t UARTDriver::txspace ( void )

overridevirtual

Implements AP_HAL::BetterStream.

Definition at line 451 of file UARTDriver.cpp.

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◆ uart_thread()

void UARTDriver::uart_thread ( void * arg )

staticprivate

Definition at line 73 of file UARTDriver.cpp.

Referenced by thread_init().

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◆ update_rts_line()

void UARTDriver::update_rts_line ( void )

private

Definition at line 871 of file UARTDriver.cpp.

Referenced by _timer_tick(), read(), and rxbuff_full_irq().

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◆ wait_timeout()

bool UARTDriver::wait_timeout	(	uint16_t	n,
		uint32_t	timeout_ms
	)

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 573 of file UARTDriver.cpp.

Referenced by ChibiOS::UARTDriver::SerialDef::get_index().

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◆ write() [1/2]

size_t UARTDriver::write ( uint8_t c )

virtual

Implements AP_HAL::BetterStream.

Definition at line 480 of file UARTDriver.cpp.

Referenced by write().

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◆ write() [2/2]

size_t UARTDriver::write	(	const uint8_t *	buffer,
		size_t	size
	)

virtual

Reimplemented from AP_HAL::BetterStream.

Definition at line 506 of file UARTDriver.cpp.

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◆ write_locked()

size_t UARTDriver::write_locked	(	const uint8_t *	buffer,
		size_t	size,
		uint32_t	key
	)

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 554 of file UARTDriver.cpp.

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◆ write_pending_bytes()

void UARTDriver::write_pending_bytes ( void )

private

Definition at line 687 of file UARTDriver.cpp.

Referenced by _timer_tick(), and write().

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◆ write_pending_bytes_DMA()

void UARTDriver::write_pending_bytes_DMA ( uint32_t n )

private

Definition at line 606 of file UARTDriver.cpp.

Referenced by write_pending_bytes().

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◆ write_pending_bytes_NODMA()

void UARTDriver::write_pending_bytes_NODMA ( uint32_t n )

private

Definition at line 652 of file UARTDriver.cpp.

Referenced by write_pending_bytes().

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Member Data Documentation

◆ _baudrate

uint32_t ChibiOS::UARTDriver::_baudrate

private

Definition at line 118 of file UARTDriver.h.

Referenced by begin(), receive_time_constraint_us(), and write_pending_bytes_DMA().

◆ _blocking_writes

bool ChibiOS::UARTDriver::_blocking_writes

private

Definition at line 142 of file UARTDriver.h.

Referenced by set_blocking_writes(), and write().

◆ _device_initialised

bool ChibiOS::UARTDriver::_device_initialised

private

Definition at line 144 of file UARTDriver.h.

Referenced by begin().

◆ _first_write_started_us

uint32_t ChibiOS::UARTDriver::_first_write_started_us

private

Definition at line 157 of file UARTDriver.h.

Referenced by _timer_tick(), and write_pending_bytes().

◆ _flow_control

enum flow_control ChibiOS::UARTDriver::_flow_control = FLOW_CONTROL_DISABLE

private

Definition at line 154 of file UARTDriver.h.

Referenced by _timer_tick(), begin(), get_flow_control(), update_rts_line(), and write_pending_bytes().

◆ _in_timer

bool ChibiOS::UARTDriver::_in_timer

private

Definition at line 141 of file UARTDriver.h.

Referenced by _timer_tick(), begin(), and end().

◆ _initialised

bool ChibiOS::UARTDriver::_initialised

private

Definition at line 143 of file UARTDriver.h.

Referenced by _timer_tick(), available(), begin(), end(), is_initialized(), read(), txspace(), uart_thread(), and write().

◆ _last_write_completed_us

uint32_t ChibiOS::UARTDriver::_last_write_completed_us

private

Definition at line 156 of file UARTDriver.h.

Referenced by _timer_tick(), check_dma_tx_completion(), tx_complete(), write_pending_bytes(), and write_pending_bytes_NODMA().

◆ _lock_rx_in_timer_tick

bool ChibiOS::UARTDriver::_lock_rx_in_timer_tick = false

private

Definition at line 145 of file UARTDriver.h.

Referenced by _timer_tick(), and rxbuff_full_irq().

◆ _readbuf

ByteBuffer ChibiOS::UARTDriver::_readbuf {0}

private

Definition at line 136 of file UARTDriver.h.

Referenced by _timer_tick(), available(), begin(), end(), read(), rxbuff_full_irq(), and update_rts_line().

◆ _receive_timestamp

uint64_t ChibiOS::UARTDriver::_receive_timestamp[2]

private

Definition at line 150 of file UARTDriver.h.

Referenced by receive_time_constraint_us(), and receive_timestamp_update().

◆ _receive_timestamp_idx

uint8_t ChibiOS::UARTDriver::_receive_timestamp_idx

private

Definition at line 151 of file UARTDriver.h.

Referenced by receive_time_constraint_us(), and receive_timestamp_update().

◆ _rts_is_active

bool ChibiOS::UARTDriver::_rts_is_active

private

Definition at line 155 of file UARTDriver.h.

Referenced by _timer_tick(), read(), rxbuff_full_irq(), and update_rts_line().

◆ _serial_tab

const UARTDriver::SerialDef UARTDriver::_serial_tab = { HAL_UART_DEVICE_LIST }

staticprivate

Definition at line 147 of file UARTDriver.h.

Referenced by ChibiOS::UARTDriver::SerialDef::get_index().

◆ _uart_owner_thd

const thread_t* ChibiOS::UARTDriver::_uart_owner_thd

private

Definition at line 123 of file UARTDriver.h.

Referenced by begin(), and read().

◆ _wait

struct { ... } ChibiOS::UARTDriver::_wait

Referenced by _timer_tick(), rxbuff_full_irq(), and wait_timeout().

◆ _write_mutex

Semaphore ChibiOS::UARTDriver::_write_mutex

private

Definition at line 138 of file UARTDriver.h.

Referenced by _timer_tick(), write(), and write_locked().

◆ _writebuf

ByteBuffer ChibiOS::UARTDriver::_writebuf {0}

private

Definition at line 137 of file UARTDriver.h.

Referenced by begin(), end(), tx_complete(), txspace(), write(), write_locked(), write_pending_bytes(), write_pending_bytes_DMA(), and write_pending_bytes_NODMA().

◆ dma_handle

Shared_DMA* ChibiOS::UARTDriver::dma_handle

private

Definition at line 146 of file UARTDriver.h.

Referenced by begin(), check_dma_tx_completion(), tx_complete(), and write_pending_bytes_DMA().

◆ last_thread_run_us

uint32_t UARTDriver::last_thread_run_us

staticprivate

Definition at line 107 of file UARTDriver.h.

Referenced by uart_thread().

◆ lock_key

uint32_t ChibiOS::UARTDriver::lock_key

private

Definition at line 116 of file UARTDriver.h.

Referenced by lock_port(), write(), and write_locked().

◆ n

uint16_t ChibiOS::UARTDriver::n

Definition at line 129 of file UARTDriver.h.

Referenced by ChibiOS::UARTDriver::SerialDef::get_index(), rxbuff_full_irq(), wait_timeout(), and write_pending_bytes().

◆ rx_bounce_buf

uint8_t ChibiOS::UARTDriver::rx_bounce_buf[RX_BOUNCE_BUFSIZE]

private

Definition at line 134 of file UARTDriver.h.

Referenced by _timer_tick(), begin(), and rxbuff_full_irq().

◆ rxdma

const stm32_dma_stream_t* ChibiOS::UARTDriver::rxdma

private

Definition at line 139 of file UARTDriver.h.

Referenced by _timer_tick(), begin(), rx_irq_cb(), and rxbuff_full_irq().

◆ sdef

const SerialDef& ChibiOS::UARTDriver::sdef

private

Definition at line 101 of file UARTDriver.h.

Referenced by _timer_tick(), available(), begin(), configure_parity(), dma_tx_allocate(), end(), flush(), receive_time_constraint_us(), rx_irq_cb(), rxbuff_full_irq(), set_stop_bits(), set_unbuffered_writes(), update_rts_line(), write_pending_bytes(), write_pending_bytes_DMA(), and write_pending_bytes_NODMA().

◆ sercfg

SerialConfig ChibiOS::UARTDriver::sercfg

private

Definition at line 121 of file UARTDriver.h.

Referenced by begin(), configure_parity(), and set_stop_bits().

◆ serial_num

uint8_t ChibiOS::UARTDriver::serial_num

private

Definition at line 113 of file UARTDriver.h.

Referenced by begin(), tx_complete(), and UARTDriver().

◆ thread_ctx

thread_t* ChibiOS::UARTDriver::thread_ctx

Definition at line 127 of file UARTDriver.h.

Referenced by rxbuff_full_irq().

◆ tx_bounce_buf

uint8_t ChibiOS::UARTDriver::tx_bounce_buf[TX_BOUNCE_BUFSIZE]

private

Definition at line 135 of file UARTDriver.h.

Referenced by write_pending_bytes_DMA().

◆ tx_bounce_buf_ready

bool ChibiOS::UARTDriver::tx_bounce_buf_ready

private

Definition at line 100 of file UARTDriver.h.

Referenced by check_dma_tx_completion(), tx_complete(), and write_pending_bytes_DMA().

◆ tx_len

uint16_t ChibiOS::UARTDriver::tx_len

private

Definition at line 119 of file UARTDriver.h.

Referenced by write_pending_bytes_DMA().

◆ txdma

const stm32_dma_stream_t* ChibiOS::UARTDriver::txdma

private

Definition at line 140 of file UARTDriver.h.

Referenced by check_dma_tx_completion(), dma_tx_allocate(), dma_tx_deallocate(), and write_pending_bytes_DMA().

◆ uart_drivers

UARTDriver * UARTDriver::uart_drivers

staticprivate

Definition at line 110 of file UARTDriver.h.

Referenced by uart_thread(), and UARTDriver().

◆ uart_thread_ctx

thread_t * UARTDriver::uart_thread_ctx

staticprivate

Definition at line 104 of file UARTDriver.h.

Referenced by thread_init(), tx_complete(), and uart_thread().

◆ unbuffered_writes

bool ChibiOS::UARTDriver::unbuffered_writes

private

Definition at line 160 of file UARTDriver.h.

Referenced by _timer_tick(), set_unbuffered_writes(), tx_complete(), and write().

The documentation for this class was generated from the following files:

libraries/AP_HAL_ChibiOS/UARTDriver.h
libraries/AP_HAL_ChibiOS/UARTDriver.cpp

Classes

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UARTDriver()

Member Function Documentation

◆ _timer_tick()

◆ available()

◆ begin() [1/2]

◆ begin() [2/2]

◆ check_dma_tx_completion()

◆ configure_parity()

◆ dma_tx_allocate()

◆ dma_tx_deallocate()

◆ end()

◆ flush()

◆ get_flow_control()

◆ is_initialized()

◆ lock_port()

◆ read()

◆ receive_time_constraint_us()

◆ receive_timestamp_update()

◆ rx_irq_cb()

◆ rxbuff_full_irq()

◆ set_blocking_writes()

◆ set_flow_control()

◆ set_stop_bits()

◆ set_unbuffered_writes()

◆ thread_init()

◆ tx_complete()

◆ tx_pending()

◆ txspace()

◆ uart_thread()

◆ update_rts_line()

◆ wait_timeout()

◆ write() [1/2]

◆ write() [2/2]

◆ write_locked()

◆ write_pending_bytes()

◆ write_pending_bytes_DMA()

◆ write_pending_bytes_NODMA()

Member Data Documentation

◆ _baudrate

◆ _blocking_writes

◆ _device_initialised

◆ _first_write_started_us

◆ _flow_control

◆ _in_timer

◆ _initialised

◆ _last_write_completed_us

◆ _lock_rx_in_timer_tick

◆ _readbuf

◆ _receive_timestamp

◆ _receive_timestamp_idx

◆ _rts_is_active

◆ _serial_tab

◆ _uart_owner_thd

◆ _wait

◆ _write_mutex

◆ _writebuf

◆ dma_handle

◆ last_thread_run_us

◆ lock_key

◆ n

◆ rx_bounce_buf

◆ rxdma

◆ sdef

◆ sercfg

◆ serial_num

◆ thread_ctx

◆ tx_bounce_buf

◆ tx_bounce_buf_ready

◆ tx_len

◆ txdma

◆ uart_drivers