fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 18:53:34 +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/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 |