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| author | px4dev <px4@purgatory.org> | 2013-07-05 17:13:54 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-07-05 17:13:54 -0700 |
| commit | 50cae347b41b66d236c26ea0dfdeb99b65824ebb (patch) | |
| tree | 30820b601c5d7b6c70c04727eb596555417919de /src/modules/px4iofirmware/serial.c | |
| parent | 5a8f874166e92ccb1d3a108164f403f622787a89 (diff) | |
| download | px4-firmware-50cae347b41b66d236c26ea0dfdeb99b65824ebb.tar.gz px4-firmware-50cae347b41b66d236c26ea0dfdeb99b65824ebb.tar.bz2 px4-firmware-50cae347b41b66d236c26ea0dfdeb99b65824ebb.zip | |
Check packet CRCs and count errors; don't reject packets yet.
Diffstat (limited to 'src/modules/px4iofirmware/serial.c')
| -rw-r--r-- | src/modules/px4iofirmware/serial.c | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c index 722d05809..6c6a9a2b1 100644 --- a/src/modules/px4iofirmware/serial.c +++ b/src/modules/px4iofirmware/serial.c @@ -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) { |