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px4io: fixed the io_reg_{set,get} errors

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this fixes the PX4IO state machine to avoid the io errors we were
seeing. There are still some open questions with this code, but it now
seems to give zero errors, which is an improvement!
This commit is contained in:
Andrew Tridgell
2013-10-28 13:10:23 +01:00
committed by Lorenz Meier
parent 0b89051be1
commit 9064f8bf09
3 changed files with 5 additions and 31 deletions
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src/modules/px4iofirmware/serial.c
+3 -17
View File
@@ -74,9 +74,6 @@ 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;
static struct IOPacket dma_packet;
/* serial register accessors */
@@ -150,16 +147,6 @@ interface_init(void)
debug("serial init");
}
void
interface_tick()
{
/* XXX look for stuck/damaged DMA and reset? */
if (idle_ticks++ > 100) {
dma_reset();
idle_ticks = 0;
}
}
static void
rx_handle_packet(void)
{
@@ -230,9 +217,6 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
/* disable UART DMA */
rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR);
/* reset the idle counter */
idle_ticks = 0;
/* handle the received packet */
rx_handle_packet();
@@ -308,6 +292,7 @@ serial_interrupt(int irq, void *context)
/* it was too short - possibly truncated */
perf_count(pc_badidle);
dma_reset();
return 0;
}
@@ -343,7 +328,8 @@ dma_reset(void)
sizeof(dma_packet),
DMA_CCR_MINC |
DMA_CCR_PSIZE_8BITS |
DMA_CCR_MSIZE_8BITS);
DMA_CCR_MSIZE_8BITS |
DMA_CCR_PRIVERYHI);
/* start receive DMA ready for the next packet */
stm32_dmastart(rx_dma, rx_dma_callback, NULL, false);