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Make mixer upload not depending on single serial transfer error

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This commit is contained in:
Lorenz Meier
2013-09-14 16:25:38 +02:00
parent d25a4caebb
commit a0d26cb282
1 changed files with 47 additions and 38 deletions
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src/drivers/px4io/px4io.cpp
+15 -6
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@@ -392,7 +392,7 @@ private:
/**
* Send mixer definition text to IO
*/
int mixer_send(const char *buf, unsigned buflen);
int mixer_send(const char *buf, unsigned buflen, unsigned retries=3);
/**
* Handle a status update from IO.
@@ -1468,9 +1468,13 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
}
int
PX4IO::mixer_send(const char *buf, unsigned buflen)
PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
{
uint8_t frame[_max_transfer];
do {
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
@@ -1513,16 +1517,21 @@ PX4IO::mixer_send(const char *buf, unsigned buflen)
} while (buflen > 0);
retries--;
log("mixer sent");
} while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
/* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
debug("mixer upload OK");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
return 0;
} else {
debug("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
}
log("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
}