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px4-firmware
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Check packet CRCs and count errors; don't reject packets yet.

This commit is contained in:
px4dev 2013-07-05 17:13:54 -07:00
parent 5a8f874166
commit 50cae347b4
2 changed files with 19 additions and 1 deletions
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13
src/drivers/px4io/interface_serial.cpp
View File

@ -181,6 +181,7 @@ private:
perf_counter_t _perf_timeouts; perf_counter_t _perf_timeouts;
perf_counter_t _perf_errors; perf_counter_t _perf_errors;
perf_counter_t _perf_txns; perf_counter_t _perf_txns;
perf_counter_t _perf_crcerrs;
}; };
@ -201,7 +202,8 @@ PX4IO_serial::PX4IO_serial() :
_perf_dmasetup(perf_alloc(PC_ELAPSED, "dmasetup")), _perf_dmasetup(perf_alloc(PC_ELAPSED, "dmasetup")),
_perf_timeouts(perf_alloc(PC_COUNT, "timeouts")), _perf_timeouts(perf_alloc(PC_COUNT, "timeouts")),
_perf_errors(perf_alloc(PC_COUNT, "errors ")), _perf_errors(perf_alloc(PC_COUNT, "errors ")),
_perf_txns(perf_alloc(PC_ELAPSED, "txns ")) _perf_txns(perf_alloc(PC_ELAPSED, "txns ")),
_perf_crcerrs(perf_alloc(PC_COUNT, "crcerrs "))
{ {
/* allocate DMA */ /* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP); _tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
@ -319,6 +321,7 @@ PX4IO_serial::test(unsigned mode)
perf_print_counter(_perf_txns); perf_print_counter(_perf_txns);
perf_print_counter(_perf_timeouts); perf_print_counter(_perf_timeouts);
perf_print_counter(_perf_errors); perf_print_counter(_perf_errors);
perf_print_counter(_perf_crcerrs);
count = 0; count = 0;
} }
usleep(10000); usleep(10000);
@ -460,11 +463,19 @@ PX4IO_serial::_wait_complete(bool expect_reply, unsigned tx_length)
if (_tx_dma_status & DMA_STATUS_TEIF) { if (_tx_dma_status & DMA_STATUS_TEIF) {
lowsyslog("DMA transmit error\n"); lowsyslog("DMA transmit error\n");
ret = -1; ret = -1;
break;
} }
if (_rx_dma_status & DMA_STATUS_TEIF) { if (_rx_dma_status & DMA_STATUS_TEIF) {
lowsyslog("DMA receive error\n"); lowsyslog("DMA receive error\n");
ret = -1; ret = -1;
break;
} }
/* check packet CRC */
uint8_t crc = _dma_buffer.crc;
_dma_buffer.crc = 0;
if (crc != crc_packet(_dma_buffer))
perf_count(_perf_crcerrs);
break; break;
} }

7
src/modules/px4iofirmware/serial.c
View File

@ -64,6 +64,7 @@ static perf_counter_t pc_ore;
static perf_counter_t pc_fe; static perf_counter_t pc_fe;
static perf_counter_t pc_ne; static perf_counter_t pc_ne;
static perf_counter_t pc_regerr; static perf_counter_t pc_regerr;
static perf_counter_t pc_crcerr;
static void rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg); static void rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg);
static void tx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg); static void tx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg);
@ -124,6 +125,7 @@ interface_init(void)
pc_fe = perf_alloc(PC_COUNT, "framing"); pc_fe = perf_alloc(PC_COUNT, "framing");
pc_ne = perf_alloc(PC_COUNT, "noise"); pc_ne = perf_alloc(PC_COUNT, "noise");
pc_regerr = perf_alloc(PC_COUNT, "regerr"); pc_regerr = perf_alloc(PC_COUNT, "regerr");
pc_crcerr = perf_alloc(PC_COUNT, "crcerr");
/* allocate DMA */ /* allocate DMA */
tx_dma = stm32_dmachannel(PX4FMU_SERIAL_TX_DMA); tx_dma = stm32_dmachannel(PX4FMU_SERIAL_TX_DMA);
@ -205,6 +207,11 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
perf_count(pc_rx); perf_count(pc_rx);
uint8_t crc = dma_packet.crc;
dma_packet.crc = 0;
if (crc != crc_packet())
perf_count(pc_crcerr);
/* default to not sending a reply */ /* default to not sending a reply */
if (PKT_CODE(dma_packet) == PKT_CODE_WRITE) { if (PKT_CODE(dma_packet) == PKT_CODE_WRITE) {