dbg

librepilot · Dec 2, 2023 · df42160 · df42160
1 parent 6058088
commit df42160
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Showing 5 changed files with 260 additions and 218 deletions.
diff --git a/flight/pios/common/pios_board_io.c b/flight/pios/common/pios_board_io.c
@@ -461,15 +461,9 @@ void PIOS_BOARD_IO_Configure_UART_COM(const struct pios_usart_cfg *hw_config,
 {
     uint32_t usart_id;
 
-#ifdef PIOS_USART_USE_DMA
-	if (PIOS_USART_DMA_Init(&usart_id, hw_config)) {
-	    PIOS_Assert(0);
-	}
-#else
     if (PIOS_USART_Init(&usart_id, hw_config)) {
         PIOS_Assert(0);
     }
-#endif
 
     if (PIOS_COM_Init(com_id, &pios_usart_com_driver, usart_id,
                       0, rx_buf_len,

diff --git a/flight/pios/common/pios_dbus.c b/flight/pios/common/pios_dbus.c
@@ -148,6 +148,7 @@ int32_t PIOS_DBus_Init(uint32_t *dbus_id,
     *dbus_id = (uint32_t)dbus_dev;
 
     /* Set rest of the parameters and enable */
+	// there is one USART_Init before
     if (driver->set_config) {
         driver->set_config(lower_id, PIOS_COM_Word_length_8b, PIOS_COM_Parity_Even, PIOS_COM_StopBits_1, PIOS_DBUS_BAUD_RATE);
     }
@@ -242,7 +243,7 @@ static uint8_t PIOS_DBus_ChannelDataValid(struct pios_dbus_state *state) {
 		}
 		ch[5] = DBUS_SW_DOWN; //sw
 		ch[6] = DBUS_SW_DOWN;
-		for (uint8_t i = 0; i< 6; i++) { // mouse * 5 + key * 1
+		for (uint8_t i = 7; i < 13; i++) { // mouse * 5 + key * 1
 		    ch[i] = 0;
 		}
 	    return 0; // invalid
@@ -256,13 +257,23 @@ static uint16_t PIOS_DBus_RxInCallback(uint32_t context,
                                        uint16_t *headroom,
                                        bool *need_yield)
 {
+	if (buf_len != DBUS_FRAME_LENGTH) {
+	    return 0;
+	}
     struct pios_dbus_dev *dbus_dev = (struct pios_dbus_dev *)context;
     bool valid = PIOS_DBus_Validate(dbus_dev);
     PIOS_Assert(valid);
     struct pios_dbus_state *state = &(dbus_dev->state);
+	for (auto i = 0; i < buf_len; i++) {
+		state->received_data[i] = buf[i];
+	}
     PIOS_DBus_UnrollChannels(state);
+	volatile uint16_t ch[16];
+	for (auto i = 0; i < 13; i++) {
+	    ch[i] = state->channel_data[i];
+	}
 	if (!PIOS_DBus_ChannelDataValid(state)) {
-		PIOS_USART_DMA_Reinit(context);
+		//PIOS_USART_DMA_Reinit(context);
 	    return 0;
 	}
     /* We never need a yield */

diff --git a/flight/pios/inc/pios_usart_priv.h b/flight/pios/inc/pios_usart_priv.h
@@ -45,17 +45,16 @@ struct pios_usart_cfg {
     struct stm32_gpio tx;
     struct stm32_gpio dtr;
 
+	bool use_dma;
 #ifdef PIOS_USART_USE_DMA
-	char** rx_buf; // double buffer
-	uint16_t buf_len;
 	struct stm32_dma dma;
 #endif // PIOS_USART_USE_DMA
 
     /* provide hook for board specific ioctls */
     int32_t (*ioctl)(uint32_t id, uint32_t ctl, void *param);
 };
 
-extern int32_t PIOS_USART_Init(uint32_t *usart_id, const struct pios_usart_cfg *cfg);
+extern int32_t PIOS_USART_Init(uint32_t *usart_id, struct pios_usart_cfg *cfg);
 
 const struct pios_usart_cfg *PIOS_USART_GetConfig(uint32_t usart_id);