diff options
| -rw-r--r-- | src/drivers/px4io/interface_serial.cpp | 13 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/serial.c | 7 |
2 files changed, 19 insertions, 1 deletions
diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp index e688d672c..814f66ea4 100644 --- a/src/drivers/px4io/interface_serial.cpp +++ b/src/drivers/px4io/interface_serial.cpp @@ -181,6 +181,7 @@ private: perf_counter_t _perf_timeouts; perf_counter_t _perf_errors; perf_counter_t _perf_txns; + perf_counter_t _perf_crcerrs; }; @@ -201,7 +202,8 @@ PX4IO_serial::PX4IO_serial() : _perf_dmasetup(perf_alloc(PC_ELAPSED, "dmasetup")), _perf_timeouts(perf_alloc(PC_COUNT, "timeouts")), _perf_errors(perf_alloc(PC_COUNT, "errors ")), - _perf_txns(perf_alloc(PC_ELAPSED, "txns ")) + _perf_txns(perf_alloc(PC_ELAPSED, "txns ")), + _perf_crcerrs(perf_alloc(PC_COUNT, "crcerrs ")) { /* allocate DMA */ _tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP); @@ -319,6 +321,7 @@ PX4IO_serial::test(unsigned mode) perf_print_counter(_perf_txns); perf_print_counter(_perf_timeouts); perf_print_counter(_perf_errors); + perf_print_counter(_perf_crcerrs); count = 0; } usleep(10000); @@ -460,11 +463,19 @@ PX4IO_serial::_wait_complete(bool expect_reply, unsigned tx_length) if (_tx_dma_status & DMA_STATUS_TEIF) { lowsyslog("DMA transmit error\n"); ret = -1; + break; } if (_rx_dma_status & DMA_STATUS_TEIF) { lowsyslog("DMA receive error\n"); ret = -1; + break; } + + /* check packet CRC */ + uint8_t crc = _dma_buffer.crc; + _dma_buffer.crc = 0; + if (crc != crc_packet(_dma_buffer)) + perf_count(_perf_crcerrs); break; } 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) { |