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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/modules/px4iofirmware/serial.c
+7
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@@ -64,6 +64,7 @@ static perf_counter_t pc_ore;
static perf_counter_t pc_fe;
static perf_counter_t pc_ne;
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 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_ne = perf_alloc(PC_COUNT, "noise");
pc_regerr = perf_alloc(PC_COUNT, "regerr");
pc_crcerr = perf_alloc(PC_COUNT, "crcerr");
/* allocate 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);
uint8_t crc = dma_packet.crc;
dma_packet.crc = 0;
if (crc != crc_packet())
perf_count(pc_crcerr);
/* default to not sending a reply */
if (PKT_CODE(dma_packet) == PKT_CODE_WRITE) {