Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_IOMCU: prevent startup sync causing an internal error

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -425,6 +425,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
handle_repeated_failures(); handle_repeated_failures();
} }
protocol_fail_count = 0; protocol_fail_count = 0;
protocol_count++;
return true; return true;
} }
@ -493,6 +494,7 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
handle_repeated_failures(); handle_repeated_failures();
} }
protocol_fail_count = 0; protocol_fail_count = 0;
protocol_count++;
return true; return true;
} }
@ -898,6 +900,11 @@ const char *AP_IOMCU::get_rc_protocol(void)
*/ */
void AP_IOMCU::handle_repeated_failures(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; detected_io_reset = true;
AP::internalerror().error(AP_InternalError::error_t::iomcu_reset); AP::internalerror().error(AP_InternalError::error_t::iomcu_reset);
// 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

1
libraries/AP_IOMCU/AP_IOMCU.h
View File

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