From 85b761961784683214eb0ec8b31d4175e19f6aa6 Mon Sep 17 00:00:00 2001 From: peabody124 Date: Sun, 9 Jan 2011 20:49:29 +0000 Subject: [PATCH] OP-176 OP-238 Flight/IRQ and DMA: Increased the priority of the AHRS DMA transfer, seems to reduce CRC errors git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2356 ebee16cc-31ac-478f-84a7-5cbb03baadba --- flight/OpenPilot/System/pios_board.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index a6798003d..de3a5de09 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -114,7 +114,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = { .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), .init = { .NVIC_IRQChannel = DMA1_Channel2_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, @@ -229,7 +229,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = { .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, - .DMA_Priority = DMA_Priority_Medium, + .DMA_Priority = DMA_Priority_High, .DMA_M2M = DMA_M2M_Disable, }, }, @@ -243,7 +243,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = { .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, - .DMA_Priority = DMA_Priority_Medium, + .DMA_Priority = DMA_Priority_High, .DMA_M2M = DMA_M2M_Disable, }, },