AP_HAL_ChibiOS: add support for recording UART Rx errors

ArduPilot · Jul 24, 2024 · 5c5319e · 5c5319e
1 parent edaddc0
commit 5c5319e
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Showing 2 changed files with 47 additions and 1 deletion.
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -70,6 +70,9 @@ static const eventmask_t EVT_PARITY = EVENT_MASK(11);
 // event for transmit end for half-duplex
 static const eventmask_t EVT_TRANSMIT_END = EVENT_MASK(12);
 
+// event for framing error
+static const eventmask_t EVT_ERROR = EVENT_MASK(13);
+
 // events for dma tx, thread per UART so can be from 0
 static const eventmask_t EVT_TRANSMIT_DMA_START = EVENT_MASK(0);
 static const eventmask_t EVT_TRANSMIT_DMA_COMPLETE = EVENT_MASK(1);
@@ -495,6 +498,16 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
         vprintf_console_hook = hal_console_vprintf;
 #endif
     }
+
+#if HAL_UART_STATS_ENABLED && CH_CFG_USE_EVENTS == TRUE
+    if (!err_listener_initialised) {
+        chEvtRegisterMaskWithFlags(chnGetEventSource((SerialDriver*)sdef.serial),
+                                &err_listener,
+                                EVT_ERROR,
+                                SD_FRAMING_ERROR | SD_OVERRUN_ERROR | SD_NOISE_ERROR);
+        err_listener_initialised = true;
+    }
+#endif
 }
 
 #ifndef HAL_UART_NODMA
@@ -1091,6 +1104,22 @@ void UARTDriver::_rx_timer_tick(void)
 
     _in_rx_timer = true;
 
+#if HAL_UART_STATS_ENABLED && CH_CFG_USE_EVENTS == TRUE
+    if (!sdef.is_usb) {
+        const auto err_flags = chEvtGetAndClearFlags(&err_listener);
+        // count the number of errors
+        if (err_flags & SD_FRAMING_ERROR) {
+            _rx_stats_framing_errors++;
+        }
+        if (err_flags & SD_OVERRUN_ERROR) {
+            _rx_stats_overrun_errors++;
+        }
+        if (err_flags & SD_NOISE_ERROR) {
+            _rx_stats_noise_errors++;
+        }
+    }
+#endif
+
 #ifndef HAL_UART_NODMA
     if (rx_dma_enabled && rxdma) {
         chSysLock();
@@ -1748,13 +1777,22 @@ void UARTDriver::uart_info(ExpandingString &str, StatsTracker &stats, const uint
     } else {
         str.printf("UART%u ", unsigned(sdef.instance));
     }
-    str.printf("TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u FlowCtrl=%u\n",
+    str.printf("TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u"
+#if CH_CFG_USE_EVENTS == TRUE
+                " FE=%lu OE=%lu NE=%lu"
+#endif
+                " FlowCtrl=%u\n",
                tx_dma_enabled ? '*' : ' ',
                unsigned(tx_bytes),
                rx_dma_enabled ? '*' : ' ',
                unsigned(rx_bytes),
                unsigned((tx_bytes * 10000) / dt_ms),
                unsigned((rx_bytes * 10000) / dt_ms),
+#if CH_CFG_USE_EVENTS == TRUE
+               _rx_stats_framing_errors,
+               _rx_stats_overrun_errors,
+               _rx_stats_noise_errors,
+#endif
                _flow_control);
 }
 #endif

diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h
@@ -79,6 +79,7 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
         uint8_t get_index(void) const {
             return uint8_t(this - &_serial_tab[0]);
         }
+        bool low_noise_line;
     };
 
     bool wait_timeout(uint16_t n, uint32_t timeout_ms) override;
@@ -282,6 +283,13 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
     // Getters for cumulative tx and rx counts
     uint32_t get_total_tx_bytes() const override { return _tx_stats_bytes; }
     uint32_t get_total_rx_bytes() const override { return _rx_stats_bytes; }
+#if CH_CFG_USE_EVENTS == TRUE
+    uint32_t _rx_stats_framing_errors;
+    uint32_t _rx_stats_overrun_errors;
+    uint32_t _rx_stats_noise_errors;
+    event_listener_t err_listener;
+    bool err_listener_initialised;
+#endif
 #endif
 };