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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
View File

@ -61,7 +61,7 @@ void AP_IOMCU::init(void)
{
// uart runs at 1.5MBit
uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(false);
uart.set_blocking_writes(true);
uart.set_unbuffered_writes(true);
AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
@ -97,7 +97,7 @@ void AP_IOMCU::thread_main(void)
chEvtSignal(thread_ctx, initial_event_mask);
uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(false);
uart.set_blocking_writes(true);
uart.set_unbuffered_writes(true);
trigger_event(IOEVENT_INIT);
@ -324,24 +324,29 @@ void AP_IOMCU::read_status()
uint32_t now = AP_HAL::millis();
if (now - last_log_ms >= 1000U) {
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(),
reg_status.freemem,
reg_status.timestamp_ms,
reg_status.total_pkts,
total_errors,
reg_status.num_errors);
reg_status.num_errors,
num_delayed);
#if IOMCU_DEBUG_ENABLE
static uint32_t last_io_err;
if (last_io_err != reg_status.num_errors) {
debug("t=%u num=%u nerr=%u crc=%u opcode=%u rd=%u wr=%u ur=%u\n",
now, reg_status.total_pkts, reg_status.num_errors,
static uint32_t last_io_print;
if (now - last_io_print >= 5000) {
last_io_print = now;
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_bad_opcode,
reg_status.err_read,
reg_status.err_write,
reg_status.err_uart);
last_io_err = reg_status.num_errors;
reg_status.err_uart,
num_delayed);
}
#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)
{
uint8_t wait_count = 20;
uint8_t wait_count = 5;
size_t ret;
do {
ret = uart.write(pkt, len);
if (ret == 0) {
hal.scheduler->delay_microseconds(100);
num_delayed++;
}
} while (ret == 0 && wait_count--);
return ret;
@ -983,7 +989,8 @@ void AP_IOMCU::check_iomcu_reset(void)
}
detected_io_reset = true;
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
// the IOMCU
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_count;
uint32_t total_errors;
uint32_t num_delayed;
uint32_t last_iocmu_timestamp_ms;
// firmware upload