diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-30 09:15:55 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-30 09:15:55 +0100 |
| commit | dc80d6745e94df71d351f4338c610f910c2a4e94 (patch) | |
| tree | bd4fbaa1d68fa6f38919167cea8285ba94b7e594 /src/drivers/px4io | |
| parent | 34d2f318ac8a72cce63e3e14e004daee45001011 (diff) | |
| parent | 0fa03e65ab3ab0e173e487b3e5f5321780f3afff (diff) | |
| download | px4-firmware-dc80d6745e94df71d351f4338c610f910c2a4e94.tar.gz px4-firmware-dc80d6745e94df71d351f4338c610f910c2a4e94.tar.bz2 px4-firmware-dc80d6745e94df71d351f4338c610f910c2a4e94.zip | |
Merge branch 'master' of github.com:PX4/Firmware into pwm_ioctls
Diffstat (limited to 'src/drivers/px4io')
| -rw-r--r-- | src/drivers/px4io/px4io_serial.cpp | 28 |
1 files changed, 17 insertions, 11 deletions
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp index 236cb918d..43318ca84 100644 --- a/src/drivers/px4io/px4io_serial.cpp +++ b/src/drivers/px4io/px4io_serial.cpp @@ -48,6 +48,7 @@ #include <time.h> #include <errno.h> #include <string.h> +#include <stdio.h> #include <arch/board/board.h> @@ -262,7 +263,8 @@ PX4IO_serial::init() up_enable_irq(PX4IO_SERIAL_VECTOR); /* enable UART in DMA mode, enable error and line idle interrupts */ - /* rCR3 = USART_CR3_EIE;*/ + rCR3 = USART_CR3_EIE; + rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE; /* create semaphores */ @@ -497,22 +499,20 @@ PX4IO_serial::_wait_complete() DMA_SCR_PBURST_SINGLE | DMA_SCR_MBURST_SINGLE); stm32_dmastart(_tx_dma, nullptr, nullptr, false); + //rCR1 &= ~USART_CR1_TE; + //rCR1 |= USART_CR1_TE; rCR3 |= USART_CR3_DMAT; perf_end(_pc_dmasetup); - /* compute the deadline for a 5ms timeout */ + /* compute the deadline for a 10ms timeout */ struct timespec abstime; clock_gettime(CLOCK_REALTIME, &abstime); -#if 0 - abstime.tv_sec++; /* long timeout for testing */ -#else - abstime.tv_nsec += 10000000; /* 0ms timeout */ - if (abstime.tv_nsec > 1000000000) { + abstime.tv_nsec += 10*1000*1000; + if (abstime.tv_nsec >= 1000*1000*1000) { abstime.tv_sec++; - abstime.tv_nsec -= 1000000000; + abstime.tv_nsec -= 1000*1000*1000; } -#endif /* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */ int ret; @@ -619,8 +619,8 @@ PX4IO_serial::_do_interrupt() */ if (_rx_dma_status == _dma_status_waiting) { _abort_dma(); - perf_count(_pc_uerrs); + perf_count(_pc_uerrs); /* complete DMA as though in error */ _do_rx_dma_callback(DMA_STATUS_TEIF); @@ -642,6 +642,12 @@ PX4IO_serial::_do_interrupt() unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma); if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) { perf_count(_pc_badidle); + + /* stop the receive DMA */ + stm32_dmastop(_rx_dma); + + /* complete the short reception */ + _do_rx_dma_callback(DMA_STATUS_TEIF); return; } @@ -670,4 +676,4 @@ PX4IO_serial::_abort_dma() stm32_dmastop(_rx_dma); } -#endif /* PX4IO_SERIAL_BASE */
\ No newline at end of file +#endif /* PX4IO_SERIAL_BASE */ |