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Code Issues Releases Activity

AHRS: Deal better with DMA errors

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1856 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-03 18:14:36 +00:00 committed by peabody124
parent a9495e2cbb
commit 1931c75a4c
1 changed files with 9 additions and 8 deletions
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17
flight/AHRS/ahrs_adc.c
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@ -202,28 +202,29 @@ void AHRS_ADC_DMA_Handler(void)
if (ahrs_state == AHRS_IDLE) { if (ahrs_state == AHRS_IDLE) {
// Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features) // Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features)
if (DMA_GetFlagStatus(DMA1_IT_TC1)) // whole double buffer filled if (DMA_GetFlagStatus(DMA1_IT_TC1)) { // whole double buffer filled
valid_data_buffer = valid_data_buffer =
&raw_data_buffer[1 * PIOS_ADC_NUM_CHANNELS * &raw_data_buffer[1 * PIOS_ADC_NUM_CHANNELS *
adc_oversample]; adc_oversample];
else if (DMA_GetFlagStatus(DMA1_IT_HT1)) DMA_ClearFlag(DMA1_IT_TC1);
}
else if (DMA_GetFlagStatus(DMA1_IT_HT1)) {
valid_data_buffer = valid_data_buffer =
&raw_data_buffer[0 * PIOS_ADC_NUM_CHANNELS * &raw_data_buffer[0 * PIOS_ADC_NUM_CHANNELS *
adc_oversample]; adc_oversample];
DMA_ClearFlag(DMA1_IT_HT1);
}
else { else {
// lets cause a seg fault and catch whatever is going on // This should not happen, probably due to transfer errors
valid_data_buffer = 0; DMA_ClearFlag(DMA1_FLAG_GL1);
} }
ahrs_state = AHRS_DATA_READY; ahrs_state = AHRS_DATA_READY;
} else { } else {
// Track how many times an interrupt occurred before EKF finished processing // Track how many times an interrupt occurred before EKF finished processing
ekf_too_slow++; ekf_too_slow++;
DMA_ClearFlag(DMA1_IT_GL1);
} }
total_conversion_blocks++; total_conversion_blocks++;
// Clear all interrupt from DMA 1 - regardless if buffer swapped
DMA_ClearFlag(DMA1_IT_GL1);
} }