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AP_HAL_ChibiOS: account for TXFIFO when doing flow control detection

This commit is contained in:
bugobliterator 2021-10-14 17:18:20 +05:30 committed by Andrew Tridgell
parent d71fb2cb34
commit 5fa50c419d
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
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@ -1135,9 +1135,18 @@ void UARTDriver::write_pending_bytes(void)
// remaining queue space // remaining queue space
uint32_t space = qSpaceI(&((SerialDriver*)sdef.serial)->oqueue); uint32_t space = qSpaceI(&((SerialDriver*)sdef.serial)->oqueue);
uint32_t used = SERIAL_BUFFERS_SIZE - space; uint32_t used = SERIAL_BUFFERS_SIZE - space;
#if !defined(USART_CR1_FIFOEN)
// threshold is 8 for the GCS_Common code to unstick SiK radios, which // threshold is 8 for the GCS_Common code to unstick SiK radios, which
// sends 6 bytes with flow control disabled // sends 6 bytes with flow control disabled
const uint8_t threshold = 8; const uint8_t threshold = 8;
#else
// account for TX FIFO buffer
uint8_t threshold = 12;
if (_last_options & OPTION_NOFIFO) {
threshold = 8;
}
#endif
if (_total_written > used && _total_written - used > threshold) { if (_total_written > used && _total_written - used > threshold) {
_flow_control = FLOW_CONTROL_ENABLE; _flow_control = FLOW_CONTROL_ENABLE;
return; return;