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Code Issues Releases Activity

In the case of swapping in userspace due to the buffer being blocked during

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ISR, make sure the latency is less than 50 us to avoid framesync errors.  Still
seeing a few nonsense packets on Overo side but fairly few.  Probably need to
add CRC to whole packet now and call it done.
This commit is contained in:
James Cotton 2012-02-14 11:05:48 -06:00
parent 1930d092eb
commit c957172f8f
1 changed files with 7 additions and 1 deletions
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8
flight/Modules/OveroSync/overosync.c
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@ -48,6 +48,7 @@ static xQueueHandle queue;
static UAVTalkConnection uavTalkCon; static UAVTalkConnection uavTalkCon;
static xTaskHandle overoSyncTaskHandle; static xTaskHandle overoSyncTaskHandle;
volatile bool buffer_swap_failed; volatile bool buffer_swap_failed;
volatile uint32_t buffer_swap_timeval;
// Private functions // Private functions
static void overoSyncTask(void *parameters); static void overoSyncTask(void *parameters);
@ -281,6 +282,7 @@ static void transmitDataDone(bool crc_ok, uint8_t crc_val)
* \return -1 on failure * \return -1 on failure
* \return number of bytes transmitted on success * \return number of bytes transmitted on success
*/ */
uint32_t too_long = 0;
static int32_t packData(uint8_t * data, int32_t length) static int32_t packData(uint8_t * data, int32_t length)
{ {
uint8_t *tx_buffer; uint8_t *tx_buffer;
@ -312,9 +314,12 @@ static int32_t packData(uint8_t * data, int32_t length)
// When the NSS line rises while we are packing data then a transaction doesn't start // When the NSS line rises while we are packing data then a transaction doesn't start
// because that means we will be here very shortly afterwards (priority of task making that // because that means we will be here very shortly afterwards (priority of task making that
// not always perfectly true) schedule the transaction here. // not always perfectly true) schedule the transaction here.
if (buffer_swap_failed) { if (buffer_swap_failed && (PIOS_DELAY_DiffuS(buffer_swap_timeval) < 50)) {
buffer_swap_failed = false; buffer_swap_failed = false;
transmitData(); transmitData();
} else if (buffer_swap_failed) {
buffer_swap_failed = false;
too_long++;
} }
return length; return length;
@ -335,6 +340,7 @@ static int32_t transmitData()
xSemaphoreGiveFromISR(overosync->transaction_lock, &xHigherPriorityTaskWoken); xSemaphoreGiveFromISR(overosync->transaction_lock, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken); portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
buffer_swap_failed = true; buffer_swap_failed = true;
buffer_swap_timeval = PIOS_DELAY_GetRaw();
return -2; return -2;
} }