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AP_HAL_ESP32: UART driver tweaks and making closer in shape to chibios #28717

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AP_HAL_ESP32: UART driver tweaks and making closer in shape to chibios #28717

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cde5f00
AP_HAL_ESP32: UART driver tweaks and making closer in shape to chibios
davidbuzz Nov 2, 2024
169e164
AP_HAL_ESP32: UART driver tweaks - rename member variables
srmainwaring Nov 23, 2024
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61 changes: 47 additions & 14 deletions libraries/AP_HAL_ESP32/UARTDriver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,33 +13,67 @@
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#include <AP_HAL_ESP32/UARTDriver.h>
#include <AP_HAL/AP_HAL.h>

#include <AP_Math/AP_Math.h>
#include "Semaphores.h"
#include "Scheduler.h"
#include "UARTDriver.h"

#include "esp_log.h"

extern const AP_HAL::HAL& hal;

namespace ESP32
{
#include "rom/ets_sys.h" //for ets_printf
extern int ets_printf(const char* format, ...); //for ets_printf in rom

using namespace ESP32;


UARTDesc uart_desc[] = {HAL_ESP32_UART_DEVICES};

// table to find UARTDrivers from serial number, used for event handling
UARTDriver *UARTDriver::serial_drivers[UART_MAX_DRIVERS];

UARTDriver::UARTDriver(uint8_t serial_num) :
AP_HAL::UARTDriver(),
_serial_num(serial_num)
{
_initialized = false;
if(_serial_num > UART_MAX_DRIVERS) {
// ets is very low level and can't print floats etc
ets_printf("too many UART drivers");
}
serial_drivers[_serial_num] = this;
//no printf allowed in static constructor, not allowed
}

void UARTDriver::vprintf(const char *fmt, va_list ap)
{
// the idea is that no other thread can printf to the console etc till the current one finishes its line/action/etc.
WITH_SEMAPHORE(_sem);

uart_port_t p = uart_desc[uart_num].port;
uart_port_t p = uart_desc[_serial_num].port;
if (p == 0) {
esp_log_writev(ESP_LOG_INFO, "", fmt, ap);
} else {
AP_HAL::UARTDriver::vprintf(fmt, ap);
}
//hal.scheduler->delay_microseconds(10000);// time for hw to flush while holding sem ? todo get rid of this?
}

// disable TX/RX pins for unusued uart
void UARTDriver::disable_rxtx(void) const
{
// nop on esp32. todo?
}

void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
if (uart_num < ARRAY_SIZE(uart_desc)) {
uart_port_t p = uart_desc[uart_num].port;
// hal.console->printf("%s:%d UART num:%d\n", __PRETTY_FUNCTION__, __LINE__,uart_desc[_serial_num].port);

if (_serial_num < ARRAY_SIZE(uart_desc)) {
uart_port_t p = uart_desc[_serial_num].port;
if (!_initialized) {

uart_config_t config = {
Expand All @@ -51,8 +85,8 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
};
uart_param_config(p, &config);
uart_set_pin(p,
uart_desc[uart_num].tx,
uart_desc[uart_num].rx,
uart_desc[_serial_num].tx,
uart_desc[_serial_num].rx,
UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
//uart_driver_install(p, 2*UART_FIFO_LEN, 0, 0, nullptr, 0);
uart_driver_install(p, 2*UART_HW_FIFO_LEN(p), 0, 0, nullptr, 0);
Expand All @@ -72,7 +106,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
void UARTDriver::_end()
{
if (_initialized) {
uart_driver_delete(uart_desc[uart_num].port);
uart_driver_delete(uart_desc[_serial_num].port);
_readbuf.set_size(0);
_writebuf.set_size(0);
}
Expand All @@ -81,7 +115,7 @@ void UARTDriver::_end()

void UARTDriver::_flush()
{
uart_port_t p = uart_desc[uart_num].port;
uart_port_t p = uart_desc[_serial_num].port;
uart_flush(p);
}

Expand Down Expand Up @@ -143,7 +177,7 @@ void IRAM_ATTR UARTDriver::_timer_tick(void)

void IRAM_ATTR UARTDriver::read_data()
{
uart_port_t p = uart_desc[uart_num].port;
uart_port_t p = uart_desc[_serial_num].port;
int count = 0;
do {
count = uart_read_bytes(p, _buffer, sizeof(_buffer), 0);
Expand All @@ -155,7 +189,7 @@ void IRAM_ATTR UARTDriver::read_data()

void IRAM_ATTR UARTDriver::write_data()
{
uart_port_t p = uart_desc[uart_num].port;
uart_port_t p = uart_desc[_serial_num].port;
int count = 0;
_write_mutex.take_blocking();
do {
Expand Down Expand Up @@ -184,7 +218,7 @@ size_t IRAM_ATTR UARTDriver::_write(const uint8_t *buffer, size_t size)

bool UARTDriver::_discard_input()
{
//uart_port_t p = uart_desc[uart_num].port;
//uart_port_t p = uart_desc[_serial_num].port;
//return uart_flush_input(p) == ESP_OK;
return false;
}
Expand Down Expand Up @@ -219,4 +253,3 @@ uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes)
return last_receive_us;
}

}
53 changes: 40 additions & 13 deletions libraries/AP_HAL_ESP32/UARTDriver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,33 +15,32 @@

#pragma once

#include "AP_HAL_ESP32.h"

#include <AP_HAL/UARTDriver.h>
#include <AP_HAL/utility/RingBuffer.h>
#include <AP_HAL_ESP32/AP_HAL_ESP32.h>
#include <AP_HAL_ESP32/Semaphores.h>
#include "Semaphores.h"

#include "driver/gpio.h"
#include "driver/uart.h"

namespace ESP32
{

struct UARTDesc {
uart_port_t port;
gpio_num_t rx;
gpio_num_t tx;
};
#define UART_MAX_DRIVERS 11


class UARTDriver : public AP_HAL::UARTDriver
class ESP32::UARTDriver : public AP_HAL::UARTDriver
{
public:

UARTDriver(uint8_t serial_num)
: AP_HAL::UARTDriver()
{
_initialized = false;
uart_num = serial_num;
}
UARTDriver(uint8_t serial_num);

/* Do not allow copies */
CLASS_NO_COPY(UARTDriver);

virtual ~UARTDriver() = default;

Expand All @@ -59,6 +58,25 @@ class UARTDriver : public AP_HAL::UARTDriver
return 10*1024;
}

// disable TX/RX pins for unusued uart?
void disable_rxtx(void) const override;

// unused stuff from chibios - do we want it in the future?
// struct SerialDef {
// void* serial;
// uint8_t instance;
// bool is_usb;
// uint8_t port;
// uint8_t rx;
// uint8_t tx;
// uint8_t rts_line;
// uint8_t cts_line;
// uint32_t _baudrate;
// uint8_t get_index(void) const {
// return uint8_t(this - &_serial_tab[0]);
// }
// };
//bool lock_port(uint32_t write_key, uint32_t read_key) override;
/*
return timestamp estimate in microseconds for when the start of
a nbytes packet arrived on the uart. This should be treated as a
Expand All @@ -85,7 +103,17 @@ class UARTDriver : public AP_HAL::UARTDriver
void read_data();
void write_data();

uint8_t uart_num;
HAL_Semaphore _sem;

// table to find UARTDrivers from serial number, used for event handling
static UARTDriver *serial_drivers[UART_MAX_DRIVERS];

// unused stuff from chibios - do we want it in the future?
//const SerialDef &sdef;
//static const SerialDef _serial_tab[];

// index into serial_drivers table
uint8_t _serial_num;

// timestamp for receiving data on the UART, avoiding a lock
uint64_t _receive_timestamp[2];
Expand All @@ -104,4 +132,3 @@ class UARTDriver : public AP_HAL::UARTDriver
bool _discard_input() override; // discard all bytes available for reading
};

}
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