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HAL_ChibiOS: added half-duplex protection for non-inverted

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to prevent output bytes being seen as input bytes we disable half
duplex during transmit. This was previously only done for non-inverted
UARTs. This patch enables it whether we are inverted or not. This
greatly reduces the number of bad input bytes.
This commit is contained in:
Andrew Tridgell committed 2020-03-20 12:37:52 +11:00
1 parent 6b35497129
commit fc0b2ef920
1 file changed
+8 -12
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libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+8 -12
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@@ -929,12 +929,10 @@ void UARTDriver::half_duplex_setup_tx(void)
if (!hd_tx_active) {
chEvtGetAndClearFlags(&hd_listener);
hd_tx_active = true;
if (_last_options & (OPTION_RXINV | OPTION_TXINV)) {
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
sercfg.cr3 &= ~USART_CR3_HDSEL;
sdStart(sd, &sercfg);
}
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
sercfg.cr3 &= ~USART_CR3_HDSEL;
sdStart(sd, &sercfg);
}
#endif
}
@@ -955,12 +953,10 @@ void UARTDriver::_timer_tick(void)
half-duplex transmit has finished. We now re-enable the
HDSEL bit for receive
*/
if (_last_options & (OPTION_RXINV | OPTION_TXINV)) {
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
sercfg.cr3 |= USART_CR3_HDSEL;
sdStart(sd, &sercfg);
}
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
sercfg.cr3 |= USART_CR3_HDSEL;
sdStart(sd, &sercfg);
hd_tx_active = false;
}
#endif