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feat(stm32h7): honour PX4IO_SERIAL_SWAPPED

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Julian Oes
2026-04-30 11:55:11 +12:00
parent 226dcd0629
commit 81384aca8a
1 changed files with 10 additions and 0 deletions
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platforms/nuttx/src/px4/stm/stm32h7/px4io_serial/px4io_serial.cpp
+10
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@@ -124,7 +124,11 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
/* reset the UART */
rCR1 = 0;
#ifdef PX4IO_SERIAL_SWAPPED
rCR2 = USART_CR2_SWAP;
#else
rCR2 = 0;
#endif
rCR3 = 0;
/* detach our interrupt handler */
@@ -171,7 +175,11 @@ ArchPX4IOSerial::init()
/* reset & configure the UART */
rCR1 = 0;
#ifdef PX4IO_SERIAL_SWAPPED
rCR2 = USART_CR2_SWAP;
#else
rCR2 = 0;
#endif
rCR3 = 0;
/* clear data that may be in the RDR and clear overrun error: */
@@ -370,6 +378,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
* In all cases DMA is stopped by either HW or the ISR error service path.
*/
perf_count(_pc_dmaerrs);
printf("DMA error?\n");
ret = -EIO;
break;
@@ -407,6 +416,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) {
perf_count(_pc_crcerrs);
printf("CRC error\n");
ret = -EIO;
}
}