add MF_SerialUartTask

Author: qqqlab

src/madflight/hal/ESP32/hal_ESP32_cpp.h

@@ -257,15 +257,11 @@ MF_Serial* hal_get_ser_bus(int bus_id, int baud, MF_SerialMode mode, bool invert
   }
 
   //get ser from MF_SerialPtrWrapper, and (re)configure it
-  HardwareSerial *ser = ((MF_SerialPtrWrapper<HardwareSerial*>*)hal_ser[bus_id])->_serial;
+  *ser = ((MF_SerialPtrWrapper<HardwareSerial*>*)hal_ser[bus_id])->_serial;
   ser->end();
   ser->setTxBufferSize(256);
   ser->setRxBufferSize(256);
   ser->begin(baud, config, pin_rx, pin_tx, invert);
-  break;
-
-
-
 
   return hal_ser[bus_id];
 }

src/madflight/hal/RP2040/MF_SerialUartTask_RP2040.h

@@ -0,0 +1,60 @@
+//Wrapper around SerialUART, uses a StreamBuffer to buffer TX
+
+#pragma once
+
+#include "hal_RP2040.h"
+#include "../MF_Serial.h"
+#include <stream_buffer.h>
+
+void MF_SerialUartTask_task( void * pvParameters );
+
+// Serial Interface
+class MF_SerialUartTask : public MF_Serial {
+  public:
+    SerialUART *_serial;
+    StreamBufferHandle_t xStreamBuffer = NULL;
+    
+    MF_SerialUartTask(SerialUART *_serial, const char* taskname) {
+
+      this->_serial = _serial;
+
+      xStreamBuffer = xStreamBufferCreate(256, 1); //lenght, triggerlevel
+
+      xTaskCreate( MF_SerialUartTask_task,         /* The function that implements the task. */
+                   taskname,               /* Human readable name for the task. */
+                   configMINIMAL_STACK_SIZE, /* Stack size (in words!). */
+                   (void*)this,                     /* Task parameter . */
+                   uxTaskPriorityGet(NULL),     /* The priority at which the task is created. */
+                   NULL );                   /* No use for the task handle. */
+    }
+
+    void begin(int baud) override {
+      _serial->begin(baud);
+    }
+
+    int read(uint8_t *buf, int len) override {
+      return _serial->readBytes(buf, len);
+    }
+
+    int available() override {
+      return _serial->available();
+    }
+
+    int availableForWrite() override {
+      return xStreamBufferSpacesAvailable(xStreamBuffer);
+    }
+
+    int write(uint8_t *buf, int len) override {
+      if(availableForWrite() < len) return 0;
+      return xStreamBufferSend( xStreamBuffer, (const void *)buf, len, 0 ); //0 = no wait
+    }
+};
+
+void MF_SerialUartTask_task( void * pvParameters ) {
+  MF_SerialUartTask *self = (MF_SerialUartTask*) pvParameters;
+  uint8_t b;
+  for( ;; ) {
+      xStreamBufferReceive( self->xStreamBuffer, &b, 1, portMAX_DELAY );
+      self->_serial->write(b);
+  }
+}

src/madflight/hal/RP2040/hal_RP2040_cpp.h

@@ -1,3 +1,5 @@
+#include "MF_SerialUartTask_RP2040.h"
+
 
 //Arduino version string
 #define HAL_ARDUINO_STR "Arduino-Pico v" ARDUINO_PICO_VERSION_STR 
@@ -165,9 +167,12 @@ void hal_print_pin_name(int pinnum) {
 }
 
 
+
+//SerialUartTask version
+#include "MF_SerialUartTask_RP2040.h"
+
 //create/get Serial bus (late binding)
 //Serial BUS (&Serial, &Serial1, &Serial2) - ser0 &Serial is used for CLI via uart->USB converter
-
 MF_Serial* hal_get_ser_bus(int bus_id, int baud, MF_SerialMode mode, bool invert) {
   if(bus_id < 0 || bus_id >= HAL_SER_NUM) return nullptr;
 
@@ -186,16 +191,73 @@ MF_Serial* hal_get_ser_bus(int bus_id, int baud, MF_SerialMode mode, bool invert
       break;
   }
 
-/*
-    //uncomment one: SerialIRQ, SerialUART or SerialPIO and use uart0 or uart1
-    auto *ser = new SerialIRQ(uart1, cfg.pin_ser1_tx, ser1_txbuf, sizeof(ser1_txbuf), cfg.pin_ser1_rx, ser1_rxbuf, sizeof(ser1_rxbuf));
-    //auto *ser = new SerialIRQ(uart1, cfg.pin_ser1_tx, pin_ser1_rx, 256, 256); //TODO
-    //auto *ser = new SerialDMA(uart1, cfg.pin_ser1_tx, pin_ser1_rx, 256, 256); //TODO
-    //auto *ser = new SerialUART(uart1, cfg.pin_ser1_tx, pin_ser1_rx); //SerialUART default Arduino impementation (had some problems with this)
-    //auto *ser = new SerialPIO(cfg.pin_ser1_tx, pin_ser1_rx, 32); //PIO uarts, any pin allowed (not tested, but expect same as SerialUART)
-    hal_ser[1] = new MF_SerialPtrWrapper<decltype(ser)>( ser );
-*/
+  //SerialUART default Arduino impementation (does not have TX buffer -> problem for ublox gps and mavlink ...)
+  int pin_tx = -1;
+  int pin_rx = -1;
+  uart_inst_t *uart;
+  char taskname[16];
+  switch(bus_id) {
+    case 0:
+      pin_tx = cfg.pin_ser0_tx;
+      pin_rx = cfg.pin_ser0_rx;
+      uart = uart0;
+      strcpy(taskname, "uart0");
+      break;
+    case 1:
+      pin_tx = cfg.pin_ser1_tx;
+      pin_rx = cfg.pin_ser1_rx;
+      uart = uart1;
+      strcpy(taskname, "uart1");
+      break;
+    default:
+      return nullptr;
+  }
+
+  //exit if no pins defined
+  if(pin_tx < 0 && pin_rx < 0) return nullptr;
 
+  //create new MF_Serial
+  if(!hal_ser[bus_id]) {
+    SerialUART *ser = new SerialUART(uart, pin_rx, pin_tx);
+    hal_ser[bus_id] = new MF_SerialUartTask(ser, taskname);
+  }
+
+  //get ser from MF_SerialPtrWrapper, and configure it
+  SerialUART *ser = ((MF_SerialUartTask*)hal_ser[bus_id])->_serial;
+  ser->end();
+  ser->setRX(pin_rx);
+  ser->setTX(pin_tx);
+  ser->setFIFOSize(256);
+  ser->setInvertTX(invert);
+  ser->setInvertRX(invert);
+  ser->begin(baud, config);
+
+  return hal_ser[bus_id];
+}
+
+
+
+/* //SerialUART version - works
+
+//create/get Serial bus (late binding)
+//Serial BUS (&Serial, &Serial1, &Serial2) - ser0 &Serial is used for CLI via uart->USB converter
+MF_Serial* hal_get_ser_bus(int bus_id, int baud, MF_SerialMode mode, bool invert) {
+  if(bus_id < 0 || bus_id >= HAL_SER_NUM) return nullptr;
+
+  uint16_t config;
+
+  switch(mode) {
+    case MF_SerialMode::mf_SERIAL_8N1:
+      config=SERIAL_8N1;
+      break;
+    case MF_SerialMode::mf_SERIAL_8E2:
+      config=SERIAL_8E2;
+      break;
+    default:
+      Serial.printf("\nERROR: hal_get_ser_bus bus_id=%d invalid mode\n\n", bus_id);
+      return nullptr;
+      break;
+  }
 
   //SerialUART default Arduino impementation (does not have TX buffer -> problem for ublox gps and mavlink ...)
   int pin_tx = -1;
@@ -238,6 +300,23 @@ MF_Serial* hal_get_ser_bus(int bus_id, int baud, MF_SerialMode mode, bool invert
   return hal_ser[bus_id];
 }
 
+
+*/
+
+
+
+
+
+/*
+    //uncomment one: SerialIRQ, SerialUART or SerialPIO and use uart0 or uart1
+    auto *ser = new SerialIRQ(uart1, cfg.pin_ser1_tx, ser1_txbuf, sizeof(ser1_txbuf), cfg.pin_ser1_rx, ser1_rxbuf, sizeof(ser1_rxbuf));
+    //auto *ser = new SerialIRQ(uart1, cfg.pin_ser1_tx, pin_ser1_rx, 256, 256); //TODO
+    //auto *ser = new SerialDMA(uart1, cfg.pin_ser1_tx, pin_ser1_rx, 256, 256); //TODO
+    //auto *ser = new SerialUART(uart1, cfg.pin_ser1_tx, pin_ser1_rx); //SerialUART default Arduino impementation (had some problems with this)
+    //auto *ser = new SerialPIO(cfg.pin_ser1_tx, pin_ser1_rx, 32); //PIO uarts, any pin allowed (not tested, but expect same as SerialUART)
+    hal_ser[1] = new MF_SerialPtrWrapper<decltype(ser)>( ser );
+*/
+
 /*
 
 MF_Serial* hal_get_ser_bus(int bus_id, int baud, MF_SerialMode mode, bool invert) {