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

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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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src/drivers/px4io/interface_serial.cpp
+12 -1
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@@ -181,6 +181,7 @@ private:
perf_counter_t _perf_timeouts;
perf_counter_t _perf_errors;
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_timeouts(perf_alloc(PC_COUNT, "timeouts")),
_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 */
_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_timeouts);
perf_print_counter(_perf_errors);
perf_print_counter(_perf_crcerrs);
count = 0;
}
usleep(10000);
@@ -460,11 +463,19 @@ PX4IO_serial::_wait_complete(bool expect_reply, unsigned tx_length)
if (_tx_dma_status & DMA_STATUS_TEIF) {
lowsyslog("DMA transmit error\n");
ret = -1;
break;
}
if (_rx_dma_status & DMA_STATUS_TEIF) {
lowsyslog("DMA receive error\n");
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;
}