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HAL_F4Light: take account of available bytes in receive_time_constraint_us

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This commit is contained in:
Andrew Tridgell 2018-05-17 07:01:14 +10:00
parent 89898bae1d
commit f983c8a906
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_HAL_F4Light/UARTDriver.cpp
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@ -149,14 +149,14 @@ void UARTDriver::update_timestamp(){ // called from ISR
}
// this is mostly a
uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes) const {
uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes) {
// timestamp is 32 bits so read is atomic, in worst case we get 2nd timestamp
uint32_t time_from_last_byte = AP_HAL::micros() - _receive_timestamp[_time_idx];
uint32_t transport_time_us = 0;
if (_baudrate > 0) {
// assume 10 bits per byte
transport_time_us = (1000000UL * 10UL / _baudrate) * nbytes;
transport_time_us = (1000000UL * 10UL / _baudrate) * (nbytes+available());
}
return AP_HAL::micros64() - (time_from_last_byte + transport_time_us);
}

2
libraries/AP_HAL_F4Light/UARTDriver.h
View File

@ -53,7 +53,7 @@ public:
inline void disable(){ _usart_device = NULL; } // pins used for another needs
uint64_t receive_time_constraint_us(uint16_t nbytes) const override;
uint64_t receive_time_constraint_us(uint16_t nbytes) override;
void update_timestamp();