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Always send and expect a reply for every message.

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This commit is contained in:
px4dev
2013-07-05 16:34:44 -07:00
parent d83323d4a2
commit e55a37697d
2 changed files with 37 additions and 47 deletions
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src/modules/px4iofirmware/serial.c
+12 -16
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@@ -192,7 +192,6 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
perf_count(pc_rx);
/* default to not sending a reply */
bool send_reply = false;
if (dma_packet.count & PKT_CTRL_WRITE) {
dma_packet.count &= ~PKT_CTRL_WRITE;
@@ -217,7 +216,6 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
count = MAX_RW_REGS;
/* copy reply registers into DMA buffer */
send_reply = true;
memcpy((void *)&dma_packet.regs[0], registers, count);
dma_packet.count = count;
}
@@ -228,20 +226,18 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
dma_reset();
/* if we have a reply to send, start that now */
if (send_reply) {
stm32_dmasetup(
tx_dma,
(uint32_t)&rDR,
(uint32_t)&dma_packet,
sizeof(dma_packet), /* XXX cut back to actual transmit size */
DMA_CCR_DIR |
DMA_CCR_MINC |
DMA_CCR_PSIZE_8BITS |
DMA_CCR_MSIZE_8BITS);
sending = true;
stm32_dmastart(tx_dma, tx_dma_callback, NULL, false);
rCR3 |= USART_CR3_DMAT;
}
stm32_dmasetup(
tx_dma,
(uint32_t)&rDR,
(uint32_t)&dma_packet,
sizeof(dma_packet), /* XXX cut back to actual transmit size */
DMA_CCR_DIR |
DMA_CCR_MINC |
DMA_CCR_PSIZE_8BITS |
DMA_CCR_MSIZE_8BITS);
sending = true;
stm32_dmastart(tx_dma, tx_dma_callback, NULL, false);
rCR3 |= USART_CR3_DMAT;
}
static int