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AP_IOMCU: correct TCIE setting and add more debug

This commit is contained in:
Andy Piper 2024-05-30 16:31:36 +01:00 committed by Andrew Tridgell
parent ae8a2d9513
commit 07f0bfc8c9
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -646,8 +646,8 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
// wait for the expected number of reply bytes or timeout
if (!uart.wait_timeout(count*2+4, 10)) {
debug("t=%lu timeout read page=%u offset=%u count=%u\n",
AP_HAL::millis(), page, offset, count);
debug("t=%lu timeout read page=%u offset=%u count=%u avail=%u\n",
AP_HAL::millis(), page, offset, count, uart.available());
protocol_fail_count++;
return false;
}

2
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -91,7 +91,7 @@ static void setup_tx_dma(hal_uart_driver* uart)
dmaStreamSetMode(uart->dmatx, uart->dmatxmode | STM32_DMA_CR_DIR_M2P |
STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);
// enable transmission complete interrupt
uart->usart->SR = ~USART_SR_TC;
uart->usart->SR &= ~USART_SR_TC;
uart->usart->CR1 |= USART_CR1_TCIE;
dmaStreamEnable(uart->dmatx);