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[uart] use buffer write function for ChibiOS uart driver (#3491)

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This way is about 10 times faster than using a for loop with single byte put function.
This commit is contained in:
Gautier Hattenberger
2025-06-27 11:39:03 +02:00
committed by GitHub
parent 06c0b2f4ed
commit b91239f7b5
1 changed files with 12 additions and 4 deletions
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sw/airborne/arch/chibios/mcu_periph/uart_arch.c
+12 -4
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@@ -86,8 +86,7 @@ UNUSED static void handle_uart_rx(struct uart_periph *p)
UNUSED static void handle_uart_tx(struct uart_periph *p) UNUSED static void handle_uart_tx(struct uart_periph *p)
{ {
// check if more data to send // check if more data to send
// TODO send by block with sdWrite (be careful with circular buffer) // send by block with sdWrite if possible: not compatible with soft flow control
// not compatible with soft flow control
struct SerialInit *init_struct = (struct SerialInit *)(p->init_struct); struct SerialInit *init_struct = (struct SerialInit *)(p->init_struct);
chSemWait(init_struct->tx_sem); chSemWait(init_struct->tx_sem);
p->tx_running = true; p->tx_running = true;
@@ -97,18 +96,27 @@ UNUSED static void handle_uart_tx(struct uart_periph *p)
// wait for CTS line to be set to send next byte // wait for CTS line to be set to send next byte
while (gpio_get(init_struct->cts_port, init_struct->cts_pin) == 1) ; while (gpio_get(init_struct->cts_port, init_struct->cts_pin) == 1) ;
} }
#endif
uint8_t data = p->tx_buf[p->tx_extract_idx]; uint8_t data = p->tx_buf[p->tx_extract_idx];
sdPut((SerialDriver *)p->reg_addr, data); sdPut((SerialDriver *)p->reg_addr, data);
chMtxLock(init_struct->tx_mtx); chMtxLock(init_struct->tx_mtx);
p->tx_extract_idx++; p->tx_extract_idx++;
p->tx_extract_idx %= UART_TX_BUFFER_SIZE; p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
chMtxUnlock(init_struct->tx_mtx); chMtxUnlock(init_struct->tx_mtx);
#if USE_UART_SOFT_FLOW_CONTROL
if (init_struct->cts_port != 0) { if (init_struct->cts_port != 0) {
// wait for physical transfer to be completed // wait for physical transfer to be completed
while ((((SerialDriver *)p->reg_addr)->usart->SR & USART_SR_TC) == 0) ; while ((((SerialDriver *)p->reg_addr)->usart->SR & USART_SR_TC) == 0) ;
} }
#else // normal operation without soft flow control
chMtxLock(init_struct->tx_mtx);
if (p->tx_insert_idx > p->tx_extract_idx) {
sdWrite((SerialDriver *)p->reg_addr, &p->tx_buf[p->tx_extract_idx], p->tx_insert_idx - p->tx_extract_idx);
} else {
// wrapping circular buffer
sdWrite((SerialDriver *)p->reg_addr, &p->tx_buf[p->tx_extract_idx], UART_TX_BUFFER_SIZE - p->tx_extract_idx);
sdWrite((SerialDriver *)p->reg_addr, &p->tx_buf[0], p->tx_insert_idx);
}
p->tx_extract_idx = p->tx_insert_idx;
chMtxUnlock(init_struct->tx_mtx);
#endif #endif
} }
p->tx_running = false; p->tx_running = false;