fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-06 22:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Be more consistent with the packet format definition.

Browse Source 
Free perf counters in ~PX4IO_serial
This commit is contained in:
px4dev
2013-07-05 18:36:00 -07:00
parent 1f7f7862ce
commit 46a4a44321
2 changed files with 17 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/interface_serial.cpp
+12 -6
View File
@@ -69,7 +69,7 @@
#include "interface.h"
const unsigned max_rw_regs = 32; // by agreement w/IO
#define PKT_MAX_REGS 32 // by agreement w/IO
#pragma pack(push, 1)
struct IOPacket {
@@ -77,7 +77,7 @@ struct IOPacket {
uint8_t crc;
uint8_t page;
uint8_t offset;
uint16_t regs[max_rw_regs];
uint16_t regs[PKT_MAX_REGS];
};
#pragma pack(pop)
@@ -268,6 +268,12 @@ PX4IO_serial::~PX4IO_serial()
sem_destroy(&_completion_semaphore);
sem_destroy(&_bus_semaphore);
perf_free(_perf_dmasetup);
perf_free(_perf_timeouts);
perf_free(_perf_errors);
perf_free(_perf_txns);
perf_free(_perf_crcerrs);
if (g_interface == this)
g_interface = nullptr;
}
@@ -334,7 +340,7 @@ PX4IO_serial::test(unsigned mode)
int
PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
if (num_values > max_rw_regs)
if (num_values > PKT_MAX_REGS)
return -EINVAL;
sem_wait(&_bus_semaphore);
@@ -343,7 +349,7 @@ PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsi
_dma_buffer.page = page;
_dma_buffer.offset = offset;
memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * num_values));
for (unsigned i = num_values; i < max_rw_regs; i++)
for (unsigned i = num_values; i < PKT_MAX_REGS; i++)
_dma_buffer.regs[i] = 0x55aa;
/* XXX implement check byte */
@@ -358,7 +364,7 @@ PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsi
int
PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
{
if (num_values > max_rw_regs)
if (num_values > PKT_MAX_REGS)
return -EINVAL;
sem_wait(&_bus_semaphore);
@@ -422,7 +428,7 @@ PX4IO_serial::_wait_complete()
_tx_dma,
PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET,
reinterpret_cast<uint32_t>(&_dma_buffer),
sizeof(_dma_buffer), /* XXX should be tx_length */
sizeof(_dma_buffer), /* XXX should be PKT_LENGTH() */
DMA_SCR_DIR_M2P |
DMA_SCR_MINC |
DMA_SCR_PSIZE_8BITS |
src/modules/px4iofirmware/serial.c
+5 -5
View File
@@ -77,7 +77,7 @@ static void dma_reset(void);
/* if we spend this many ticks idle, reset the DMA */
static unsigned idle_ticks;
#define MAX_RW_REGS 32 // by agreement w/FMU
#define PKT_MAX_REGS 32 // by agreement w/FMU
#pragma pack(push, 1)
struct IOPacket {
@@ -85,7 +85,7 @@ struct IOPacket {
uint8_t crc;
uint8_t page;
uint8_t offset;
uint16_t regs[MAX_RW_REGS];
uint16_t regs[PKT_MAX_REGS];
};
#pragma pack(pop)
@@ -231,8 +231,8 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
count = 0;
/* constrain reply to packet size */
if (count > MAX_RW_REGS)
count = MAX_RW_REGS;
if (count > PKT_MAX_REGS)
count = PKT_MAX_REGS;
/* copy reply registers into DMA buffer */
memcpy((void *)&dma_packet.regs[0], registers, count);
@@ -251,7 +251,7 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
tx_dma,
(uint32_t)&rDR,
(uint32_t)&dma_packet,
sizeof(dma_packet), /* XXX cut back to actual transmit size */
sizeof(dma_packet), /* XXX should be PKT_LENGTH() */
DMA_CCR_DIR |
DMA_CCR_MINC |
DMA_CCR_PSIZE_8BITS |