fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 05:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

IO firmware: Fix code style

Browse Source
This commit is contained in:
Lorenz Meier
2015-10-19 13:46:32 +02:00
parent 59ee7b23ee
commit 948ff80b80
9 changed files with 395 additions and 251 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/serial.c
+30 -10
View File
@@ -131,14 +131,19 @@ interface_init(void)
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
#if 0 /* keep this for signal integrity testing */
for (;;) {
while (!(rSR & USART_SR_TXE))
;
rDR = 0xfa;
while (!(rSR & USART_SR_TXE))
;
rDR = 0xa0;
}
#endif
/* configure RX DMA and return to listening state */
@@ -153,6 +158,7 @@ rx_handle_packet(void)
/* check packet CRC */
uint8_t crc = dma_packet.crc;
dma_packet.crc = 0;
if (crc != crc_packet(&dma_packet)) {
perf_count(pc_crcerr);
@@ -170,11 +176,13 @@ rx_handle_packet(void)
if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], PKT_COUNT(dma_packet))) {
perf_count(pc_regerr);
dma_packet.count_code = PKT_CODE_ERROR;
} else {
dma_packet.count_code = PKT_CODE_SUCCESS;
}
return;
}
}
if (PKT_CODE(dma_packet) == PKT_CODE_READ) {
@@ -185,17 +193,22 @@ rx_handle_packet(void)
if (registers_get(dma_packet.page, dma_packet.offset, &registers, &count) < 0) {
perf_count(pc_regerr);
dma_packet.count_code = PKT_CODE_ERROR;
} else {
/* constrain reply to requested size */
if (count > PKT_MAX_REGS)
if (count > PKT_MAX_REGS) {
count = PKT_MAX_REGS;
if (count > PKT_COUNT(dma_packet))
}
if (count > PKT_COUNT(dma_packet)) {
count = PKT_COUNT(dma_packet);
}
/* copy reply registers into DMA buffer */
memcpy((void *)&dma_packet.regs[0], registers, count * 2);
dma_packet.count_code = count | PKT_CODE_SUCCESS;
}
return;
}
@@ -250,16 +263,22 @@ serial_interrupt(int irq, void *context)
(void)rDR; /* required to clear any of the interrupt status that brought us here */
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 */
perf_count(pc_errors);
if (sr & USART_SR_ORE)
if (sr & USART_SR_ORE) {
perf_count(pc_ore);
if (sr & USART_SR_NE)
}
if (sr & USART_SR_NE) {
perf_count(pc_ne);
if (sr & USART_SR_FE)
}
if (sr & USART_SR_FE) {
perf_count(pc_fe);
}
/* send a line break - this will abort transmission/reception on the other end */
rCR1 |= USART_CR1_SBK;
@@ -270,7 +289,7 @@ serial_interrupt(int irq, void *context)
if (sr & USART_SR_IDLE) {
/*
/*
* If we saw an error, don't bother looking at the packet - it should have
* been aborted by the sender and will definitely be bad. Get the DMA reconfigured
* ready for their retry.
@@ -284,10 +303,11 @@ serial_interrupt(int irq, void *context)
/*
* The sender has stopped sending - this is probably the end of a packet.
* Check the received length against the length in the header to see if
* Check the received length against the length in the header to see if
* we have something that looks like a packet.
*/
unsigned length = sizeof(dma_packet) - stm32_dmaresidual(rx_dma);
if ((length < 1) || (length < PKT_SIZE(dma_packet))) {
/* it was too short - possibly truncated */