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Update crazyflie firmware version (#393)
* Update crazyflie firmware version * Temporary branch change * Add crazyflie tx patch * Add patch
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47 changes: 47 additions & 0 deletions
47
config/freertos/crazyflie21/patchs/0001-Add-tx-queue-utilities.patch
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@@ -0,0 +1,47 @@ | ||
From ab2fc76ed60e64f52cb6379ffdf4a04691af658d Mon Sep 17 00:00:00 2001 | ||
From: Antonio cuadros <acuadros1995@gmail.com> | ||
Date: Mon, 27 Sep 2021 09:21:33 +0200 | ||
Subject: [PATCH] Add tx queue utilities | ||
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--- | ||
src/hal/interface/radiolink.h | 3 ++- | ||
src/hal/src/radiolink.c | 10 ++++++++++ | ||
2 files changed, 12 insertions(+), 1 deletion(-) | ||
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diff --git a/src/hal/interface/radiolink.h b/src/hal/interface/radiolink.h | ||
index 293c5c64..ad85e313 100644 | ||
--- a/src/hal/interface/radiolink.h | ||
+++ b/src/hal/interface/radiolink.h | ||
@@ -58,6 +58,7 @@ void radiolinkSyslinkDispatch(SyslinkPacket *slp); | ||
struct crtpLinkOperations * radiolinkGetLink(); | ||
bool radiolinkSendP2PPacketBroadcast(P2PPacket *p2pp); | ||
void p2pRegisterCB(P2PCallback cb); | ||
- | ||
+int linkGetFreeTxQueuePackets(void); | ||
+int linkResetTxQueuePackets(void); | ||
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#endif //__RADIO_H__ | ||
diff --git a/src/hal/src/radiolink.c b/src/hal/src/radiolink.c | ||
index 738901f3..23d000b3 100644 | ||
--- a/src/hal/src/radiolink.c | ||
+++ b/src/hal/src/radiolink.c | ||
@@ -74,6 +74,16 @@ static bool radiolinkIsConnected(void) { | ||
return (xTaskGetTickCount() - lastPacketTick) < M2T(RADIO_ACTIVITY_TIMEOUT_MS); | ||
} | ||
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+int linkGetFreeTxQueuePackets(void) | ||
+{ | ||
+ return (RADIOLINK_TX_QUEUE_SIZE - uxQueueMessagesWaiting(txQueue)); | ||
+} | ||
+ | ||
+int linkResetTxQueuePackets(void) | ||
+{ | ||
+ return xQueueReset(txQueue); | ||
+} | ||
+ | ||
static struct crtpLinkOperations radiolinkOp = | ||
{ | ||
.setEnable = radiolinkSetEnable, | ||
-- | ||
2.25.1 | ||
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25 changes: 25 additions & 0 deletions
25
config/freertos/crazyflie21/patchs/0001-Remove-assert.patch
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From df14a0e01528c304c758bb4f32b1f28cc5fecc19 Mon Sep 17 00:00:00 2001 | ||
From: Antonio cuadros <acuadros1995@gmail.com> | ||
Date: Mon, 27 Sep 2021 10:05:54 +0200 | ||
Subject: [PATCH] Remove assert | ||
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--- | ||
src/hal/src/radiolink.c | 2 +- | ||
1 file changed, 1 insertion(+), 1 deletion(-) | ||
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diff --git a/src/hal/src/radiolink.c b/src/hal/src/radiolink.c | ||
index 738901f3..bfe07865 100644 | ||
--- a/src/hal/src/radiolink.c | ||
+++ b/src/hal/src/radiolink.c | ||
@@ -161,7 +161,7 @@ void radiolinkSyslinkDispatch(SyslinkPacket *slp) | ||
{ | ||
slp->length--; // Decrease to get CRTP size. | ||
// Assert that we are not dopping any packets | ||
- ASSERT(xQueueSend(crtpPacketDelivery, &slp->length, 0) == pdPASS); | ||
+ xQueueSend(crtpPacketDelivery, &slp->length, 0); | ||
ledseqRun(&seq_linkUp); | ||
// If a radio packet is received, one can be sent | ||
if (xQueueReceive(txQueue, &txPacket, 0) == pdTRUE) | ||
-- | ||
2.25.1 | ||
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