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px4-firmware
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Reset the PX4IO rx DMA if we haven't seen any traffic in a while; this gets us back into sync.

This commit is contained in:
px4dev 2013-07-04 23:22:59 -07:00
parent 94b638d848
commit 83213c66df
1 changed files with 8 additions and 0 deletions
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8
src/modules/px4iofirmware/serial.c
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@ -73,6 +73,9 @@ static DMA_HANDLE rx_dma;
static int serial_interrupt(int irq, void *context);
static void dma_reset(void);
/* if we spend this many ticks idle, reset the DMA */
static unsigned idle_ticks;
#define MAX_RW_REGS 32 // by agreement w/FMU
#pragma pack(push, 1)
@ -160,6 +163,10 @@ void
interface_tick()
{
/* XXX look for stuck/damaged DMA and reset? */
if (idle_ticks++ > 100) {
dma_reset();
idle_ticks = 0;
}
}
static void
@ -175,6 +182,7 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
/* we just received a request; sort out what to do */
rCR3 &= ~USART_CR3_DMAR;
idle_ticks = 0;
/* work out how big the packet actually is */
//unsigned rx_length = sizeof(IOPacket) - stm32_dmaresidual(rx_dma);