From 6a175eac616d3c2e5aafa2fe44a7bfca61378a9e Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Wed, 11 Aug 2010 17:51:30 +0000
Subject: [PATCH] added a second reset procedure in case of crc error - this
 one is less tested I put it as default. I left the other one in an ifdef in
 case you prefer safety to testing new code

---
 .../lisa/arch/stm32/lisa_overo_link_arch.h    | 90 +++++++++++++++----
 1 file changed, 73 insertions(+), 17 deletions(-)

diff --git a/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h b/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h
index 7426b57c6f..475de20497 100644
--- a/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h
+++ b/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h
@@ -4,14 +4,63 @@
 #include <stm32/spi.h>
 
 
+#if 1
+
+/*
+ *
+ * This is the version that got less tested
+ *
+ */
+
+#define OveroLinkEvent(_data_received_handler, _crc_failed_handler) {	\
+    if (overo_link.status == DATA_AVAILABLE) {	                  /* set by DMA interrupt */ \
+      while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE)==RESET);	\
+      while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_BSY)==SET);	\
+      uint8_t foo1 __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI1); \
+      overo_link.timeout = 0;						\
+      if((SPI_I2S_GetFlagStatus(SPI1, SPI_FLAG_CRCERR)) == RESET) {	\
+	LED_TOGGLE(OVERO_LINK_LED_OK);					\
+	LED_OFF(OVERO_LINK_LED_KO);					\
+	overo_link.msg_cnt++;						\
+	_data_received_handler();					\
+	overo_link_arch_prepare_next_transfert();			\
+      }									\
+      else {								\
+	LED_OFF(OVERO_LINK_LED_OK);					\
+	LED_ON(OVERO_LINK_LED_KO);					\
+	overo_link.crc_err_cnt++;					\
+	overo_link.crc_error = TRUE;					\
+	_crc_failed_handler();						\
+      }									\
+      overo_link.status = IDLE;						\
+    }									\
+    if (overo_link.crc_error &&	                     /* if we've had a bad crc         */ \
+	!GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4)) { /* and we're not selected anymore */ \
+      uint8_t foo2 __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI1); \
+      foo2  = SPI_I2S_ReceiveData(SPI1);				\
+      violently_reset_spi();						\
+      overo_link_arch_prepare_next_transfert();				\
+      overo_link.crc_error = FALSE;					\
+    }									\
+  }
+
+
+#else
+
+/*
+ *
+ * This is the version that works
+ *
+ */
+
 #define OveroLinkEvent(_data_received_handler, _crc_failed_handler) {	\
     if (overo_link.status == DATA_AVAILABLE) {				\
       overo_link.timeout = 0;						\
-      /* FIXME : we should probably add a limit here and do something */\
+      /* FIXME : we should probably add a limit here and do something */ \
       /* radical in case we exceed it */				\
       while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE)==RESET);	\
       while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_BSY)==SET);	\
-      uint8_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI1); \
+      uint8_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI1);	\
       if((SPI_I2S_GetFlagStatus(SPI1, SPI_FLAG_CRCERR)) == RESET) {	\
 	LED_TOGGLE(OVERO_LINK_LED_OK);					\
 	LED_OFF(OVERO_LINK_LED_KO);					\
@@ -25,25 +74,32 @@
 	/* probably want a limit here                           */	\
 	while (!GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4));		\
 	uint8_t foo2 __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI1); \
-	SPI_I2S_DeInit(SPI1);						\
-	SPI_Cmd(SPI1, DISABLE);						\
-	SPI_InitTypeDef SPI_InitStructure;				\
-	SPI_InitStructure.SPI_Direction         = SPI_Direction_2Lines_FullDuplex; \
-	SPI_InitStructure.SPI_Mode              = SPI_Mode_Slave;	\
-	SPI_InitStructure.SPI_DataSize          = SPI_DataSize_8b;	\
-	SPI_InitStructure.SPI_CPOL              = SPI_CPOL_Low;		\
-	SPI_InitStructure.SPI_CPHA              = SPI_CPHA_2Edge;	\
-	SPI_InitStructure.SPI_NSS               = SPI_NSS_Hard;		\
-	SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2; \
-	SPI_InitStructure.SPI_FirstBit          = SPI_FirstBit_MSB;	\
-	SPI_InitStructure.SPI_CRCPolynomial     = 0x31;			\
-	SPI_Init(SPI1, &SPI_InitStructure);				\
-	SPI_CalculateCRC(SPI1, ENABLE);					\
-	SPI_Cmd(SPI1, ENABLE);						\
+	violently_reset_spi();						\
       }									\
       overo_link_arch_prepare_next_transfert();				\
       overo_link.status = IDLE;						\
     }									\
+  }				
+#endif
+
+
+#define violently_reset_spi() {						\
+    SPI_I2S_DeInit(SPI1);						\
+    SPI_Cmd(SPI1, DISABLE);						\
+    SPI_InitTypeDef SPI_InitStructure;					\
+    SPI_InitStructure.SPI_Direction         = SPI_Direction_2Lines_FullDuplex; \
+    SPI_InitStructure.SPI_Mode              = SPI_Mode_Slave;		\
+    SPI_InitStructure.SPI_DataSize          = SPI_DataSize_8b;		\
+    SPI_InitStructure.SPI_CPOL              = SPI_CPOL_Low;		\
+    SPI_InitStructure.SPI_CPHA              = SPI_CPHA_2Edge;		\
+    SPI_InitStructure.SPI_NSS               = SPI_NSS_Hard;		\
+    SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2;	\
+    SPI_InitStructure.SPI_FirstBit          = SPI_FirstBit_MSB;		\
+    SPI_InitStructure.SPI_CRCPolynomial     = 0x31;			\
+    SPI_Init(SPI1, &SPI_InitStructure);					\
+    SPI_CalculateCRC(SPI1, ENABLE);					\
+    SPI_Cmd(SPI1, ENABLE);						\
   }
 
+
 #endif /* LISA_OVERO_LINK_ARCH_H */