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AP_IOMCU: improved error checking

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and avoid pointless change of rates
This commit is contained in:
Andrew Tridgell 2018-01-23 06:18:28 +11:00
parent 3dacbd1b36
commit 442b280368
1 changed files with 10 additions and 4 deletions
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14
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -336,7 +336,9 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
a large number of registers wastes a lot of serial bandwidth
*/
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt.get_size());
uart.write((uint8_t *)&pkt, pkt.get_size());
if (uart.write((uint8_t *)&pkt, pkt.get_size()) != pkt.get_size()) {
return false;
}
// wait for the expected number of reply bytes or timeout
if (!uart.wait_timeout(count*2+4, 10)) {
@ -391,7 +393,9 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
pkt.crc = 0;
memcpy(pkt.regs, regs, 2*count);
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt.get_size());
uart.write((uint8_t *)&pkt, pkt.get_size());
if (uart.write((uint8_t *)&pkt, pkt.get_size()) != pkt.get_size()) {
return false;
}
// wait for the expected number of reply bytes or timeout
if (!uart.wait_timeout(4, 10)) {
@ -557,8 +561,10 @@ void AP_IOMCU::set_heater_duty_cycle(uint8_t duty_cycle)
// set default output rate
void AP_IOMCU::set_default_rate(uint16_t rate_hz)
{
rate.default_freq = rate_hz;
trigger_event(IOEVENT_SET_DEFAULT_RATE);
if (rate.default_freq != rate_hz) {
rate.default_freq = rate_hz;
trigger_event(IOEVENT_SET_DEFAULT_RATE);
}
}
// setup for oneshot mode