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AP_IOMCU: use blocking writes to uart

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this avoids the issue of arming failing due to a non-zero protocol count
This commit is contained in:
Andrew Tridgell 2019-08-14 10:56:51 +10:00
parent 8080efbc6a
commit 8ef2046f7b
2 changed files with 20 additions and 12 deletions
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31
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -61,7 +61,7 @@ void AP_IOMCU::init(void)
{ {
// uart runs at 1.5MBit // uart runs at 1.5MBit
uart.begin(1500*1000, 256, 256); uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(false); uart.set_blocking_writes(true);
uart.set_unbuffered_writes(true); uart.set_unbuffered_writes(true);
AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton(); AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
@ -97,7 +97,7 @@ void AP_IOMCU::thread_main(void)
chEvtSignal(thread_ctx, initial_event_mask); chEvtSignal(thread_ctx, initial_event_mask);
uart.begin(1500*1000, 256, 256); uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(false); uart.set_blocking_writes(true);
uart.set_unbuffered_writes(true); uart.set_unbuffered_writes(true);
trigger_event(IOEVENT_INIT); trigger_event(IOEVENT_INIT);
@ -324,24 +324,29 @@ void AP_IOMCU::read_status()
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - last_log_ms >= 1000U) { if (now - last_log_ms >= 1000U) {
last_log_ms = now; last_log_ms = now;
AP::logger().Write("IOMC", "TimeUS,Mem,TS,NPkt,Nerr,Nerr2", "QHIIII", AP::logger().Write("IOMC", "TimeUS,Mem,TS,NPkt,Nerr,Nerr2,NDel", "QHIIIII",
AP_HAL::micros64(), AP_HAL::micros64(),
reg_status.freemem, reg_status.freemem,
reg_status.timestamp_ms, reg_status.timestamp_ms,
reg_status.total_pkts, reg_status.total_pkts,
total_errors, total_errors,
reg_status.num_errors); reg_status.num_errors,
num_delayed);
#if IOMCU_DEBUG_ENABLE #if IOMCU_DEBUG_ENABLE
static uint32_t last_io_err; static uint32_t last_io_print;
if (last_io_err != reg_status.num_errors) { if (now - last_io_print >= 5000) {
debug("t=%u num=%u nerr=%u crc=%u opcode=%u rd=%u wr=%u ur=%u\n", last_io_print = now;
now, reg_status.total_pkts, reg_status.num_errors, debug("t=%u num=%u terr=%u nerr=%u crc=%u opcode=%u rd=%u wr=%u ur=%u ndel=%u\n",
now,
reg_status.total_pkts,
total_errors,
reg_status.num_errors,
reg_status.err_crc, reg_status.err_crc,
reg_status.err_bad_opcode, reg_status.err_bad_opcode,
reg_status.err_read, reg_status.err_read,
reg_status.err_write, reg_status.err_write,
reg_status.err_uart); reg_status.err_uart,
last_io_err = reg_status.num_errors; num_delayed);
} }
#endif // IOMCU_DEBUG_ENABLE #endif // IOMCU_DEBUG_ENABLE
} }
@ -374,12 +379,13 @@ void AP_IOMCU::discard_input(void)
*/ */
size_t AP_IOMCU::write_wait(const uint8_t *pkt, uint8_t len) size_t AP_IOMCU::write_wait(const uint8_t *pkt, uint8_t len)
{ {
uint8_t wait_count = 20; uint8_t wait_count = 5;
size_t ret; size_t ret;
do { do {
ret = uart.write(pkt, len); ret = uart.write(pkt, len);
if (ret == 0) { if (ret == 0) {
hal.scheduler->delay_microseconds(100); hal.scheduler->delay_microseconds(100);
num_delayed++;
} }
} while (ret == 0 && wait_count--); } while (ret == 0 && wait_count--);
return ret; return ret;
@ -983,7 +989,8 @@ void AP_IOMCU::check_iomcu_reset(void)
} }
detected_io_reset = true; detected_io_reset = true;
AP::internalerror().error(AP_InternalError::error_t::iomcu_reset); AP::internalerror().error(AP_InternalError::error_t::iomcu_reset);
hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n", AP_HAL::millis(), ts1, reg_status.timestamp_ms, dt_ms); hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n",
unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms));
// we need to ensure the mixer data and the rates are sent over to // we need to ensure the mixer data and the rates are sent over to
// the IOMCU // the IOMCU
if (mixing.enabled) { if (mixing.enabled) {

1
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -207,6 +207,7 @@ private:
uint32_t protocol_fail_count; uint32_t protocol_fail_count;
uint32_t protocol_count; uint32_t protocol_count;
uint32_t total_errors; uint32_t total_errors;
uint32_t num_delayed;
uint32_t last_iocmu_timestamp_ms; uint32_t last_iocmu_timestamp_ms;
// firmware upload // firmware upload