aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

HAL_ChibiOS: take account of available bytes in receive_time_constraint_us

Browse Source
This commit is contained in:
Andrew Tridgell 2018-05-17 07:01:14 +10:00
parent b887a1e893
commit 89898bae1d
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -970,12 +970,12 @@ void UARTDriver::receive_timestamp_update(void)
A return value of zero means the HAL does not support this API A return value of zero means the HAL does not support this API
*/ */
uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes) const uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes)
{ {
uint64_t last_receive_us = _receive_timestamp[_receive_timestamp_idx]; uint64_t last_receive_us = _receive_timestamp[_receive_timestamp_idx];
if (_baudrate > 0 && !sdef.is_usb) { if (_baudrate > 0 && !sdef.is_usb) {
// assume 10 bits per byte. For USB we assume zero transport delay // assume 10 bits per byte. For USB we assume zero transport delay
uint32_t transport_time_us = (1000000UL * 10UL / _baudrate) * nbytes; uint32_t transport_time_us = (1000000UL * 10UL / _baudrate) * (nbytes + available());
last_receive_us -= transport_time_us; last_receive_us -= transport_time_us;
} }
return last_receive_us; return last_receive_us;

2
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -94,7 +94,7 @@ public:
A return value of zero means the HAL does not support this API A return value of zero means the HAL does not support this API
*/ */
uint64_t receive_time_constraint_us(uint16_t nbytes) const override; uint64_t receive_time_constraint_us(uint16_t nbytes) override;
private: private:
bool tx_bounce_buf_ready; bool tx_bounce_buf_ready;