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https://github.com/ArduPilot/ardupilot
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AP_IOMCU: correct TCIE setting and add more debug
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parent
c8695dfb3a
commit
8fc35276db
libraries/AP_IOMCU
@ -637,8 +637,8 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
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// wait for the expected number of reply bytes or timeout
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// wait for the expected number of reply bytes or timeout
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if (!uart.wait_timeout(count*2+4, 10)) {
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if (!uart.wait_timeout(count*2+4, 10)) {
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debug("t=%lu timeout read page=%u offset=%u count=%u\n",
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debug("t=%lu timeout read page=%u offset=%u count=%u avail=%u\n",
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AP_HAL::millis(), page, offset, count);
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AP_HAL::millis(), page, offset, count, uart.available());
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protocol_fail_count++;
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protocol_fail_count++;
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return false;
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return false;
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}
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}
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@ -91,7 +91,7 @@ static void setup_tx_dma(hal_uart_driver* uart)
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dmaStreamSetMode(uart->dmatx, uart->dmatxmode | STM32_DMA_CR_DIR_M2P |
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dmaStreamSetMode(uart->dmatx, uart->dmatxmode | STM32_DMA_CR_DIR_M2P |
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STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);
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STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);
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// enable transmission complete interrupt
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// enable transmission complete interrupt
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uart->usart->SR = ~USART_SR_TC;
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uart->usart->SR &= ~USART_SR_TC;
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uart->usart->CR1 |= USART_CR1_TCIE;
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uart->usart->CR1 |= USART_CR1_TCIE;
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dmaStreamEnable(uart->dmatx);
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dmaStreamEnable(uart->dmatx);
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