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AP_IOMCU: prevent startup sync causing an internal error

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This commit is contained in:
Andrew Tridgell 2019-04-24 09:16:09 +10:00
parent e6c7fd2acc
commit af54e8620e
2 changed files with 8 additions and 0 deletions
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7
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -425,6 +425,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
handle_repeated_failures();
}
protocol_fail_count = 0;
protocol_count++;
return true;
}
@ -493,6 +494,7 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
handle_repeated_failures();
}
protocol_fail_count = 0;
protocol_count++;
return true;
}
@ -898,6 +900,11 @@ const char *AP_IOMCU::get_rc_protocol(void)
*/
void AP_IOMCU::handle_repeated_failures(void)
{
if (protocol_count < 100) {
// we're just starting up, ignore initial failures caused by
// initial sync with IOMCU
return;
}
detected_io_reset = true;
AP::internalerror().error(AP_InternalError::error_t::iomcu_reset);
// we need to ensure the mixer data and the rates are sent over to

1
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -205,6 +205,7 @@ private:
bool is_chibios_backend;
uint32_t protocol_fail_count;
uint32_t protocol_count;
// firmware upload
const char *fw_name = "io_firmware.bin";