fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 12:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Encode the packet type and result in the unused high bits of the word count.

Browse Source
This commit is contained in:
px4dev
2013-07-05 16:41:27 -07:00
parent e55a37697d
commit 313231566c
2 changed files with 37 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/serial.c
+19 -7
View File
@@ -80,8 +80,7 @@ static unsigned idle_ticks;
#pragma pack(push, 1)
struct IOPacket {
uint8_t count;
#define PKT_CTRL_WRITE (1<<7)
uint8_t count_code;
uint8_t spare;
uint8_t page;
uint8_t offset;
@@ -89,6 +88,21 @@ struct IOPacket {
};
#pragma pack(pop)
#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
#define PKT_CODE_MASK 0xc0
#define PKT_COUNT_MASK 0x3f
#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
//static uint8_t crc_packet(void);
static struct IOPacket dma_packet;
/* serial register accessors */
@@ -192,12 +206,10 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
perf_count(pc_rx);
/* default to not sending a reply */
if (dma_packet.count & PKT_CTRL_WRITE) {
dma_packet.count &= ~PKT_CTRL_WRITE;
if (PKT_CODE(dma_packet) == PKT_CODE_WRITE) {
/* it's a blind write - pass it on */
if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], dma_packet.count))
if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], PKT_COUNT(dma_packet)))
perf_count(pc_regerr);
} else {
@@ -217,7 +229,7 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
/* copy reply registers into DMA buffer */
memcpy((void *)&dma_packet.regs[0], registers, count);
dma_packet.count = count;
dma_packet.count_code = count | PKT_CODE_SUCCESS;
}
/* re-set DMA for reception first, so we are ready to receive before we start sending */