HAL_ChibiOS: implement uart_info per-uart

this allows for some UARTs to be of EMPTY type

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -48,8 +48,6 @@ thread_t* volatile UARTDriver::uart_rx_thread_ctx;
 // table to find UARTDrivers from serial number, used for event handling
 UARTDriver *UARTDriver::uart_drivers[UART_MAX_DRIVERS];
 
-uint32_t UARTDriver::_last_stats_ms;
-
 // event used to wake up waiting thread. This event number is for
 // caller threads
 static const eventmask_t EVT_DATA = EVENT_MASK(10);
@@ -1671,29 +1669,20 @@ uint8_t UARTDriver::get_options(void) const
     return _last_options;
 }
 
-// request information on uart I/O for @SYS/uarts.txt
+// request information on uart I/O for @SYS/uarts.txt for this uart
 void UARTDriver::uart_info(ExpandingString &str)
 {
-    // a header to allow for machine parsers to determine format
-    str.printf("UARTV1\n");
-
     uint32_t now_ms = AP_HAL::millis();
-    for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
-        UARTDriver* uart = (UARTDriver *)hal.serial(i);
-
-        if (uart == nullptr || uart->uart_thread_ctx == nullptr) {
-            continue;
-        }
-
-        const char* fmt = "SERIAL%u %-5s TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u\n";
-        str.printf(fmt, i, uart->uart_thread_name, uart->tx_dma_enabled ? '*' : ' ', uart->_tx_stats_bytes,
-            uart->rx_dma_enabled ? '*' : ' ', uart->_rx_stats_bytes,
-            uart->_tx_stats_bytes * 10000 / (now_ms - _last_stats_ms), uart->_rx_stats_bytes * 10000 / (now_ms - _last_stats_ms));
-
-        uart->_tx_stats_bytes = 0;
-        uart->_rx_stats_bytes = 0;
-    }
-
+    str.printf("%-5s TX%c=%8u RX%c=%8u TXBD=%6u RXBD=%6u\n",
+               uart_thread_name,
+               tx_dma_enabled ? '*' : ' ',
+               unsigned(_tx_stats_bytes),
+               rx_dma_enabled ? '*' : ' ',
+               unsigned(_rx_stats_bytes),
+               unsigned(_tx_stats_bytes * 10000 / (now_ms - _last_stats_ms)),
+               unsigned(_rx_stats_bytes * 10000 / (now_ms - _last_stats_ms)));
+    _tx_stats_bytes = 0;
+    _rx_stats_bytes = 0;
     _last_stats_ms = now_ms;
 }
 

libraries/AP_HAL_ChibiOS/UARTDriver.h

@@ -128,8 +128,9 @@ public:
         }
         return _baudrate/(9*1024);
     }
-    // request information on uart I/O
-    static void uart_info(ExpandingString &str);
+
+    // request information on uart I/O for one uart
+    void uart_info(ExpandingString &str) override;
 
     /*
       return true if this UART has DMA enabled on both RX and TX
@@ -217,7 +218,7 @@ private:
     // statistics
     uint32_t _tx_stats_bytes;
     uint32_t _rx_stats_bytes;
-    static uint32_t _last_stats_ms;
+    uint32_t _last_stats_ms;
 
     // we remember config options from set_options to apply on sdStart()
     uint32_t _cr1_options;

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -576,10 +576,26 @@ void Util::apply_persistent_params(void) const
 }
 #endif // HAL_ENABLE_SAVE_PERSISTENT_PARAMS
 
+#if HAL_WITH_IO_MCU
+extern ChibiOS::UARTDriver uart_io;
+#endif
+
 // request information on uart I/O
 void Util::uart_info(ExpandingString &str)
 {
 #if !defined(HAL_NO_UARTDRIVER)    
-    ChibiOS::UARTDriver::uart_info(str);
+    // a header to allow for machine parsers to determine format
+    str.printf("UARTV1\n");
+    for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
+        auto *uart = hal.serial(i);
+        if (uart) {
+            str.printf("SERIAL%u ", i);
+            uart->uart_info(str);
+        }
+    }
+#if HAL_WITH_IO_MCU
+    str.printf("IOMCU   ");
+    uart_io.uart_info(str);
 #endif
+#endif // HAL_NO_UARTDRIVER
 }