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Code Issues Releases Activity

CC-21 PiOS/Spektrum: Prevent condition that can tie up USART interrupt and locks up

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CC.  Must always read the DR to clear the error flags.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2759 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-02-08 16:34:49 +00:00 committed by peabody124
parent a3ba9c3781
commit 7e78e8af04
1 changed files with 8 additions and 5 deletions
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13
flight/PiOS/STM32F10x/pios_spektrum.c
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@ -319,17 +319,20 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
/* Interrupt handler for USART */
void SPEKTRUM_IRQHandler(void)
{
/* by always reading DR after SR make sure to clear any error interrupts */
volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->SR;
volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->DR;
/* check if RXNE flag is set */
if (pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->SR & (1 << 5)) {
uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->DR;
if (sr & USART_SR_RXNE) {
if (PIOS_SPEKTRUM_Decode(b) < 0) {
/* Here we could add some error handling */
}
}
}
if (pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->SR & (1 << 7)) { // check if TXE flag is set
if (sr & USART_SR_TXE) { // check if TXE flag is set
/* Disable TXE interrupt (TXEIE=0) */
pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->CR1 &= ~(1 << 7);
USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg.regs, USART_IT_TXE, DISABLE);
}
/* clear "watchdog" timer */
TIM_SetCounter(pios_spektrum_cfg.timer, 0);