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PX4IO driver: Fix code style

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This commit is contained in:
Lorenz Meier
2015-09-06 12:05:37 +02:00
parent 28bbbd1563
commit 8421d51d5e
4 changed files with 527 additions and 273 deletions
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src/drivers/px4io/px4io_serial.cpp
+56 -26
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@@ -31,11 +31,11 @@
*
****************************************************************************/
/**
* @file px4io_serial.cpp
*
* Serial interface for PX4IO
*/
/**
* @file px4io_serial.cpp
*
* Serial interface for PX4IO
*/
/* XXX trim includes */
#include <px4_config.h>
@@ -159,7 +159,7 @@ private:
/* do not allow top copying this class */
PX4IO_serial(PX4IO_serial &);
PX4IO_serial& operator = (const PX4IO_serial &);
PX4IO_serial &operator = (const PX4IO_serial &);
};
@@ -199,6 +199,7 @@ PX4IO_serial::~PX4IO_serial()
stm32_dmastop(_tx_dma);
stm32_dmafree(_tx_dma);
}
if (_rx_dma != nullptr) {
stm32_dmastop(_rx_dma);
stm32_dmafree(_rx_dma);
@@ -232,8 +233,9 @@ PX4IO_serial::~PX4IO_serial()
perf_free(_pc_idle);
perf_free(_pc_badidle);
if (g_interface == this)
if (g_interface == this) {
g_interface = nullptr;
}
}
int
@@ -243,6 +245,7 @@ PX4IO_serial::init()
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) {
return -1;
}
@@ -305,19 +308,22 @@ PX4IO_serial::ioctl(unsigned operation, unsigned &arg)
for (;;) {
while (!(rSR & USART_SR_TXE))
;
rDR = 0x55;
}
return 0;
case 1:
{
case 1: {
unsigned fails = 0;
for (unsigned count = 0;; count++) {
uint16_t value = count & 0xffff;
if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0)
if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0) {
fails++;
}
if (count >= 5000) {
lowsyslog("==== test 1 : %u failures ====\n", fails);
perf_print_counter(_pc_txns);
@@ -333,12 +339,15 @@ PX4IO_serial::ioctl(unsigned operation, unsigned &arg)
count = 0;
}
}
return 0;
}
case 2:
lowsyslog("test 2\n");
return 0;
}
default:
break;
}
@@ -353,20 +362,24 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
if (count > PKT_MAX_REGS)
if (count > PKT_MAX_REGS) {
return -EINVAL;
}
sem_wait(&_bus_semaphore);
int result;
for (unsigned retries = 0; retries < 3; retries++) {
_dma_buffer.count_code = count | PKT_CODE_WRITE;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * count));
for (unsigned i = count; i < PKT_MAX_REGS; i++)
for (unsigned i = count; i < PKT_MAX_REGS; i++) {
_dma_buffer.regs[i] = 0x55aa;
}
/* XXX implement check byte */
@@ -386,13 +399,16 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
break;
}
perf_count(_pc_retries);
}
sem_post(&_bus_semaphore);
if (result == OK)
if (result == OK) {
result = count;
}
return result;
}
@@ -403,12 +419,14 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
uint8_t offset = address & 0xff;
uint16_t *values = reinterpret_cast<uint16_t *>(data);
if (count > PKT_MAX_REGS)
if (count > PKT_MAX_REGS) {
return -EINVAL;
}
sem_wait(&_bus_semaphore);
int result;
for (unsigned retries = 0; retries < 3; retries++) {
_dma_buffer.count_code = count | PKT_CODE_READ;
@@ -428,14 +446,16 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
result = -EINVAL;
perf_count(_pc_protoerrs);
/* compare the received count with the expected count */
/* compare the received count with the expected count */
} else if (PKT_COUNT(_dma_buffer) != count) {
/* IO returned the wrong number of registers - no point retrying */
result = -EIO;
perf_count(_pc_protoerrs);
/* successful read */
/* successful read */
} else {
/* copy back the result */
@@ -444,13 +464,16 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
break;
}
perf_count(_pc_retries);
}
sem_post(&_bus_semaphore);
if (result == OK)
if (result == OK) {
result = count;
}
return result;
}
@@ -517,14 +540,16 @@ PX4IO_serial::_wait_complete()
/* compute the deadline for a 10ms timeout */
struct timespec abstime;
clock_gettime(CLOCK_REALTIME, &abstime);
abstime.tv_nsec += 10*1000*1000;
if (abstime.tv_nsec >= 1000*1000*1000) {
abstime.tv_nsec += 10 * 1000 * 1000;
if (abstime.tv_nsec >= 1000 * 1000 * 1000) {
abstime.tv_sec++;
abstime.tv_nsec -= 1000*1000*1000;
abstime.tv_nsec -= 1000 * 1000 * 1000;
}
/* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */
int ret;
for (;;) {
ret = sem_timedwait(&_completion_semaphore, &abstime);
@@ -539,6 +564,7 @@ PX4IO_serial::_wait_complete()
/* check packet CRC - corrupt packet errors mean IO receive CRC error */
uint8_t crc = _dma_buffer.crc;
_dma_buffer.crc = 0;
if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
perf_count(_pc_crcerrs);
ret = -EIO;
@@ -588,6 +614,7 @@ PX4IO_serial::_do_rx_dma_callback(unsigned status)
/* check for packet overrun - this will occur after DMA completes */
uint32_t sr = rSR;
if (sr & (USART_SR_ORE | USART_SR_RXNE)) {
(void)rDR;
status = DMA_STATUS_TEIF;
@@ -607,8 +634,10 @@ PX4IO_serial::_do_rx_dma_callback(unsigned status)
int
PX4IO_serial::_interrupt(int irq, void *context)
{
if (g_interface != nullptr)
if (g_interface != nullptr) {
g_interface->_do_interrupt();
}
return 0;
}
@@ -619,10 +648,10 @@ PX4IO_serial::_do_interrupt()
(void)rDR; /* read DR to clear status */
if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */
USART_SR_NE | /* noise error - we have lost a byte due to noise */
USART_SR_FE)) { /* framing error - start/stop bit lost or line break */
/*
USART_SR_NE | /* noise error - we have lost a byte due to noise */
USART_SR_FE)) { /* framing error - start/stop bit lost or line break */
/*
* If we are in the process of listening for something, these are all fatal;
* abort the DMA with an error.
*/
@@ -649,6 +678,7 @@ PX4IO_serial::_do_interrupt()
/* verify that the received packet is complete */
size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
perf_count(_pc_badidle);