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px4-firmware
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Enable handling for short-packet reception on IO using the line-idle interrupt from the UART.

This commit is contained in:
px4dev 2013-07-05 20:35:55 -07:00
parent f9a85ac7e6
commit bcfb713fe9
1 changed files with 22 additions and 15 deletions
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37
src/modules/px4iofirmware/serial.c
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@ -56,11 +56,13 @@
//#define DEBUG
#include "px4io.h"
static perf_counter_t pc_rx;
static perf_counter_t pc_txns;
static perf_counter_t pc_errors;
static perf_counter_t pc_ore;
static perf_counter_t pc_fe;
static perf_counter_t pc_ne;
static perf_counter_t pc_idle;
static perf_counter_t pc_badidle;
static perf_counter_t pc_regerr;
static perf_counter_t pc_crcerr;
@ -117,11 +119,13 @@ static struct IOPacket dma_packet;
void
interface_init(void)
{
pc_rx = perf_alloc(PC_COUNT, "rx count");
pc_txns = perf_alloc(PC_ELAPSED, "txns");
pc_errors = perf_alloc(PC_COUNT, "errors");
pc_ore = perf_alloc(PC_COUNT, "overrun");
pc_fe = perf_alloc(PC_COUNT, "framing");
pc_ne = perf_alloc(PC_COUNT, "noise");
pc_idle = perf_alloc(PC_COUNT, "idle");
pc_badidle = perf_alloc(PC_COUNT, "badidle");
pc_regerr = perf_alloc(PC_COUNT, "regerr");
pc_crcerr = perf_alloc(PC_COUNT, "crcerr");
@ -154,7 +158,7 @@ interface_init(void)
/* enable UART and DMA */
/*rCR3 = USART_CR3_EIE; */
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE /*| USART_CR1_IDLEIE*/;
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
#if 0 /* keep this for signal integrity testing */
for (;;) {
@ -186,8 +190,6 @@ interface_tick()
static void
rx_handle_packet(void)
{
perf_count(pc_rx);
/* check packet CRC */
uint8_t crc = dma_packet.crc;
dma_packet.crc = 0;
@ -246,6 +248,8 @@ rx_handle_packet(void)
static void
rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
{
perf_begin(pc_txns);
/* disable UART DMA */
rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR);
@ -272,21 +276,17 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
DMA_CCR_MSIZE_8BITS);
stm32_dmastart(tx_dma, NULL, NULL, false);
rCR3 |= USART_CR3_DMAT;
perf_end(pc_txns);
}
static int
serial_interrupt(int irq, void *context)
{
uint32_t sr = rSR; /* get UART status register */
(void)rDR; /* required to clear any of the interrupt status that brought us here */
/* handle error/exception conditions */
if (sr & (USART_SR_ORE | USART_SR_NE | USART_SR_FE | USART_SR_IDLE)) {
/* read DR to clear status */
(void)rDR;
} else {
ASSERT(0);
}
#if 0
if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */
USART_SR_NE | /* noise error - we have lost a byte due to noise */
USART_SR_FE)) { /* framing error - start/stop bit lost or line break */
@ -305,10 +305,17 @@ serial_interrupt(int irq, void *context)
/* don't attempt to handle IDLE if it's set - things went bad */
return 0;
}
#endif
if (sr & USART_SR_IDLE) {
/* XXX if there was DMA transmission still going, this is an error */
/* the packet might have been short - go check */
unsigned length = sizeof(dma_packet) - stm32_dmaresidual(rx_dma);
if ((length < 1) || (length < PKT_SIZE(dma_packet))) {
perf_count(pc_badidle);
return 0;
}
perf_count(pc_idle);
/* stop the receive DMA */
stm32_dmastop(rx_dma);