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Safeguard against back-to-back transactions while setting up to handle a register read request.

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px4dev
2013-01-23 18:56:58 -08:00
parent 3244bb83ea
commit b34311915a
2 changed files with 12 additions and 3 deletions
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apps/px4io/i2c.c
+9
View File
@@ -242,6 +242,7 @@ i2c_rx_complete(void)
uint16_t *regs;
unsigned reg_count;
/* work out which registers are being addressed */
int ret = registers_get(selected_page, selected_offset, &regs, &reg_count);
if (ret == 0) {
tx_buf = (uint8_t *)regs;
@@ -250,6 +251,14 @@ i2c_rx_complete(void)
tx_buf = junk_buf;
tx_len = sizeof(junk_buf);
}
/* disable interrupts while reconfiguring DMA for the selected registers */
irqstate_t flags = irqsave();
stm32_dmastop(tx_dma);
i2c_tx_setup();
irqrestore(flags);
}
}
apps/px4io/registers.c
+3 -3
View File
@@ -80,9 +80,9 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
* Static configuration parameters.
*/
static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = 0,
[PX4IO_P_CONFIG_SOFTWARE_VERSION] = 0,
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 0,
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT,