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px4io: FMU half of px4io error fixes

This commit is contained in:
Andrew Tridgell 2013-10-28 15:49:57 +11:00 committed by Lorenz Meier
parent 9064f8bf09
commit 75a0c18a9e
1 changed files with 17 additions and 11 deletions
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28
src/drivers/px4io/px4io_serial.cpp
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@ -48,6 +48,7 @@
#include <time.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
@ -262,7 +263,8 @@ PX4IO_serial::init()
up_enable_irq(PX4IO_SERIAL_VECTOR);
/* enable UART in DMA mode, enable error and line idle interrupts */
/* rCR3 = USART_CR3_EIE;*/
rCR3 = USART_CR3_EIE;
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
/* create semaphores */
@ -497,22 +499,20 @@ PX4IO_serial::_wait_complete()
DMA_SCR_PBURST_SINGLE |
DMA_SCR_MBURST_SINGLE);
stm32_dmastart(_tx_dma, nullptr, nullptr, false);
//rCR1 &= ~USART_CR1_TE;
//rCR1 |= USART_CR1_TE;
rCR3 |= USART_CR3_DMAT;
perf_end(_pc_dmasetup);
/* compute the deadline for a 5ms timeout */
/* compute the deadline for a 10ms timeout */
struct timespec abstime;
clock_gettime(CLOCK_REALTIME, &abstime);
#if 0
abstime.tv_sec++; /* long timeout for testing */
#else
abstime.tv_nsec += 10000000; /* 0ms timeout */
if (abstime.tv_nsec > 1000000000) {
abstime.tv_nsec += 10*1000*1000;
if (abstime.tv_nsec >= 1000*1000*1000) {
abstime.tv_sec++;
abstime.tv_nsec -= 1000000000;
abstime.tv_nsec -= 1000*1000*1000;
}
#endif
/* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */
int ret;
@ -619,8 +619,8 @@ PX4IO_serial::_do_interrupt()
*/
if (_rx_dma_status == _dma_status_waiting) {
_abort_dma();
perf_count(_pc_uerrs);
perf_count(_pc_uerrs);
/* complete DMA as though in error */
_do_rx_dma_callback(DMA_STATUS_TEIF);
@ -642,6 +642,12 @@ PX4IO_serial::_do_interrupt()
unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
perf_count(_pc_badidle);
/* stop the receive DMA */
stm32_dmastop(_rx_dma);
/* complete the short reception */
_do_rx_dma_callback(DMA_STATUS_TEIF);
return;
}
@ -670,4 +676,4 @@ PX4IO_serial::_abort_dma()
stm32_dmastop(_rx_dma);
}
#endif /* PX4IO_SERIAL_BASE */
#endif /* PX4IO_SERIAL_BASE */