diff options
Diffstat (limited to 'src/drivers')
| -rwxr-xr-x | src/drivers/boards/px4iov2/px4iov2_internal.h | 6 | ||||
| -rw-r--r-- | src/drivers/px4io/interface_serial.cpp | 23 |
2 files changed, 13 insertions, 16 deletions
diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4iov2/px4iov2_internal.h index c4c592fe4..282ed7548 100755 --- a/src/drivers/boards/px4iov2/px4iov2_internal.h +++ b/src/drivers/boards/px4iov2/px4iov2_internal.h @@ -57,6 +57,12 @@ /* Configuration **************************************************************/ /****************************************************************************** + * Serial + ******************************************************************************/ +#define SERIAL_BASE STM32_USART1_BASE +#define SERIAL_VECTOR STM32_IRQ_USART1 + +/****************************************************************************** * GPIOS ******************************************************************************/ diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp index f91284c72..d0af2912a 100644 --- a/src/drivers/px4io/interface_serial.cpp +++ b/src/drivers/px4io/interface_serial.cpp @@ -160,6 +160,8 @@ PX4IO_serial::PX4IO_serial(int port) : return; } + /* XXX need to configure the port here */ + /* need space for worst-case escapes + hx protocol overhead */ /* XXX this is kinda gross, but hx transmits a byte at a time */ _tx_buf = new uint8_t[HX_STREAM_MAX_FRAME]; @@ -257,7 +259,7 @@ PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned n return -EIO; } else { /* copy back the result */ - memcpy(values, &_tx_buf[0], count); + memcpy(values, &_rx_buf[0], count); } out: sem_post(&_bus_semaphore); @@ -267,16 +269,12 @@ out: int PX4IO_serial::_wait_complete() { - /* prepare the stream for transmission */ + /* prepare the stream for transmission (also discards any received noise) */ hx_stream_reset(_stream); hx_stream_start(_stream, _tx_buf, _tx_size); - /* enable UART */ - _CR1() |= USART_CR1_RE | - USART_CR1_TE | - USART_CR1_TXEIE | - USART_CR1_RXNEIE | - USART_CR1_UE; + /* enable transmit-ready interrupt, which will start transmission */ + _CR1() |= USART_CR1_TXEIE; /* compute the deadline for a 5ms timeout */ struct timespec abstime; @@ -290,13 +288,6 @@ PX4IO_serial::_wait_complete() /* wait for the transaction to complete */ int ret = sem_timedwait(&_completion_semaphore, &abstime); - /* disable the UART */ - _CR1() &= ~(USART_CR1_RE | - USART_CR1_TE | - USART_CR1_TXEIE | - USART_CR1_RXNEIE | - USART_CR1_UE); - return ret; } @@ -317,7 +308,7 @@ PX4IO_serial::_do_interrupt() if (sr & USART_SR_TXE) { int c = hx_stream_send_next(_stream); if (c == -1) { - /* transmit (nearly) done, not interested in TX-ready interrupts now */ + /* no more bytes to send, not interested in interrupts now */ _CR1() &= ~USART_CR1_TXEIE; /* was this a tx-only operation? */ |