cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

src/modules/px4iofirmware/CMakeLists.txt

@@ -31,19 +31,25 @@
 #
 ############################################################################
 
-px4_add_module(
-	MODULE modules__px4iofirmware
-	SRCS
-		../systemlib/hx_stream.c
-		../systemlib/perf_counter.c
-		../systemlib/pwm_limit/pwm_limit.c
-		adc.c
-		controls.c
-		mixer.cpp
-		px4io.c
-		registers.c
-		safety.c
-		serial.c
-	DEPENDS
-		platforms__common
+add_library(px4iofirmware
+	hx_stream.c
+	../systemlib/pwm_limit/pwm_limit.c
+	adc.c
+	controls.c
+	mixer.cpp
+	px4io.c
+	registers.c
+	safety.c
+	serial.c
 	)
+
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES px4iofirmware)
+target_link_libraries(px4iofirmware
+	PUBLIC
+		nuttx_apps
+		nuttx_arch
+		nuttx_c
+		mixer
+		rc
+		perf
+)

src/modules/px4iofirmware/adc.c

@@ -44,7 +44,7 @@
 #include <stm32.h>
 
 #include <drivers/drv_hrt.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 #define DEBUG
 #include "px4io.h"

src/modules/px4iofirmware/controls.c

@@ -44,7 +44,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_rc_input.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/ppm_decode.h>
 #include <rc/st24.h>
 #include <rc/sumd.h>

src/modules/px4iofirmware/hx_stream.c

@@ -0,0 +1,322 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hx_stream.c
+ *
+ * A simple serial line framing protocol based on HDLC
+ * with 32-bit CRC protection.
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <crc32.h>
+#include <unistd.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <perf/perf_counter.h>
+
+#include "hx_stream.h"
+
+
+struct hx_stream {
+	/* RX state */
+	uint8_t			rx_buf[HX_STREAM_MAX_FRAME + 4];
+	unsigned		rx_frame_bytes;
+	bool			rx_escaped;
+	hx_stream_rx_callback	rx_callback;
+	void			*rx_callback_arg;
+
+	/* TX state */
+	int			fd;
+	bool			tx_error;
+	const uint8_t		*tx_buf;
+	unsigned		tx_resid;
+	uint32_t		tx_crc;
+	enum {
+		TX_IDLE = 0,
+		TX_SEND_START,
+		TX_SEND_DATA,
+		TX_SENT_ESCAPE,
+		TX_SEND_END
+	}			tx_state;
+
+	perf_counter_t		pc_tx_frames;
+	perf_counter_t		pc_rx_frames;
+	perf_counter_t		pc_rx_errors;
+};
+
+/*
+ * Protocol magic numbers, straight out of HDLC.
+ */
+#define FBO	0x7e	/**< Frame Boundary Octet */
+#define CEO	0x7c	/**< Control Escape Octet */
+
+static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
+static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
+static int	hx_rx_frame(hx_stream_t stream);
+
+static void
+hx_tx_raw(hx_stream_t stream, uint8_t c)
+{
+	if (write(stream->fd, &c, 1) != 1) {
+		stream->tx_error = true;
+	}
+}
+
+static int
+hx_rx_frame(hx_stream_t stream)
+{
+	union {
+		uint8_t	b[4];
+		uint32_t w;
+	} u;
+	unsigned length = stream->rx_frame_bytes;
+
+	/* reset the stream */
+	stream->rx_frame_bytes = 0;
+	stream->rx_escaped = false;
+
+	/* not a real frame - too short */
+	if (length < 4) {
+		if (length > 1) {
+			perf_count(stream->pc_rx_errors);
+		}
+
+		return 0;
+	}
+
+	length -= 4;
+
+	/* compute expected CRC */
+	u.w = crc32(&stream->rx_buf[0], length);
+
+	/* compare computed and actual CRC */
+	for (unsigned i = 0; i < 4; i++) {
+		if (u.b[i] != stream->rx_buf[length + i]) {
+			perf_count(stream->pc_rx_errors);
+			return 0;
+		}
+	}
+
+	/* frame is good */
+	perf_count(stream->pc_rx_frames);
+	stream->rx_callback(stream->rx_callback_arg, &stream->rx_buf[0], length);
+	return 1;
+}
+
+hx_stream_t
+hx_stream_init(int fd,
+	       hx_stream_rx_callback callback,
+	       void *arg)
+{
+	hx_stream_t stream;
+
+	stream = (hx_stream_t)malloc(sizeof(struct hx_stream));
+
+	if (stream != NULL) {
+		memset(stream, 0, sizeof(struct hx_stream));
+		stream->fd = fd;
+		stream->rx_callback = callback;
+		stream->rx_callback_arg = arg;
+	}
+
+	return stream;
+}
+
+void
+hx_stream_free(hx_stream_t stream)
+{
+	/* free perf counters (OK if they are NULL) */
+	perf_free(stream->pc_tx_frames);
+	perf_free(stream->pc_rx_frames);
+	perf_free(stream->pc_rx_errors);
+
+	free(stream);
+}
+
+void
+hx_stream_set_counters(hx_stream_t stream,
+		       perf_counter_t tx_frames,
+		       perf_counter_t rx_frames,
+		       perf_counter_t rx_errors)
+{
+	stream->pc_tx_frames = tx_frames;
+	stream->pc_rx_frames = rx_frames;
+	stream->pc_rx_errors = rx_errors;
+}
+
+void
+hx_stream_reset(hx_stream_t stream)
+{
+	stream->rx_frame_bytes = 0;
+	stream->rx_escaped = false;
+
+	stream->tx_buf = NULL;
+	stream->tx_resid = 0;
+	stream->tx_state = TX_IDLE;
+}
+
+int
+hx_stream_start(hx_stream_t stream,
+		const void *data,
+		size_t count)
+{
+	if (count > HX_STREAM_MAX_FRAME) {
+		return -EINVAL;
+	}
+
+	stream->tx_buf = data;
+	stream->tx_resid = count;
+	stream->tx_state = TX_SEND_START;
+	stream->tx_crc = crc32(data, count);
+	return OK;
+}
+
+int
+hx_stream_send_next(hx_stream_t stream)
+{
+	int c;
+
+	/* sort out what we're going to send */
+	switch (stream->tx_state) {
+
+	case TX_SEND_START:
+		stream->tx_state = TX_SEND_DATA;
+		return FBO;
+
+	case TX_SEND_DATA:
+		c = *stream->tx_buf;
+
+		switch (c) {
+		case FBO:
+		case CEO:
+			stream->tx_state = TX_SENT_ESCAPE;
+			return CEO;
+		}
+
+		break;
+
+	case TX_SENT_ESCAPE:
+		c = *stream->tx_buf ^ 0x20;
+		stream->tx_state = TX_SEND_DATA;
+		break;
+
+	case TX_SEND_END:
+		stream->tx_state = TX_IDLE;
+		return FBO;
+
+	case TX_IDLE:
+	default:
+		return -1;
+	}
+
+	/* if we are here, we have consumed a byte from the buffer */
+	stream->tx_resid--;
+	stream->tx_buf++;
+
+	/* buffer exhausted */
+	if (stream->tx_resid == 0) {
+		uint8_t *pcrc = (uint8_t *)&stream->tx_crc;
+
+		/* was the buffer the frame CRC? */
+		if (stream->tx_buf == (pcrc + sizeof(stream->tx_crc))) {
+			stream->tx_state = TX_SEND_END;
+
+		} else {
+			/* no, it was the payload - switch to sending the CRC */
+			stream->tx_buf = pcrc;
+			stream->tx_resid = sizeof(stream->tx_crc);
+		}
+	}
+
+	return c;
+}
+
+int
+hx_stream_send(hx_stream_t stream,
+	       const void *data,
+	       size_t count)
+{
+	int result;
+
+	result = hx_stream_start(stream, data, count);
+
+	if (result != OK) {
+		return result;
+	}
+
+	int c;
+
+	while ((c = hx_stream_send_next(stream)) >= 0) {
+		hx_tx_raw(stream, c);
+	}
+
+	/* check for transmit error */
+	if (stream->tx_error) {
+		stream->tx_error = false;
+		return -EIO;
+	}
+
+	perf_count(stream->pc_tx_frames);
+	return OK;
+}
+
+void
+hx_stream_rx(hx_stream_t stream, uint8_t c)
+{
+	/* frame end? */
+	if (c == FBO) {
+		hx_rx_frame(stream);
+		return;
+	}
+
+	/* escaped? */
+	if (stream->rx_escaped) {
+		stream->rx_escaped = false;
+		c ^= 0x20;
+
+	} else if (c == CEO) {
+		/* now rx_escaped, ignore the byte */
+		stream->rx_escaped = true;
+		return;
+	}
+
+	/* save for later */
+	if (stream->rx_frame_bytes < sizeof(stream->rx_buf)) {
+		stream->rx_buf[stream->rx_frame_bytes++] = c;
+	}
+}

src/modules/px4iofirmware/hx_stream.h

@@ -0,0 +1,162 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hx_stream.h
+ *
+ * A simple serial line framing protocol based on HDLC
+ * with 32-bit CRC protection.
+ */
+
+#ifndef _SYSTEMLIB_HX_STREAM_H
+#define _SYSTEMLIB_HX_STREAM_H
+
+#include <sys/types.h>
+
+#include <perf/perf_counter.h>
+
+struct hx_stream;
+typedef struct hx_stream *hx_stream_t;
+
+#define HX_STREAM_MAX_FRAME	64
+
+typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length);
+
+__BEGIN_DECLS
+
+/**
+ * Allocate a new hx_stream object.
+ *
+ * @param fd		The file handle over which the protocol will
+ *			communicate, or -1 if the protocol will use
+ *			hx_stream_start/hx_stream_send_next.
+ * @param callback	Called when a frame is received.
+ * @param callback_arg	Passed to the callback.
+ * @return		A handle to the stream, or NULL if memory could
+ *			not be allocated.
+ */
+__EXPORT extern hx_stream_t	hx_stream_init(int fd,
+		hx_stream_rx_callback callback,
+		void *arg);
+
+/**
+ * Free a hx_stream object.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ */
+__EXPORT extern void		hx_stream_free(hx_stream_t stream);
+
+/**
+ * Set performance counters for the stream.
+ *
+ * Any counter may be set to NULL to disable counting that datum.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param tx_frames	Counter for transmitted frames.
+ * @param rx_frames	Counter for received frames.
+ * @param rx_errors	Counter for short and corrupt received frames.
+ */
+__EXPORT extern void		hx_stream_set_counters(hx_stream_t stream,
+		perf_counter_t tx_frames,
+		perf_counter_t rx_frames,
+		perf_counter_t rx_errors);
+
+/**
+ * Reset a stream.
+ *
+ * Forces the local stream state to idle.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ */
+__EXPORT extern void		hx_stream_reset(hx_stream_t stream);
+
+/**
+ * Prepare to send a frame.
+ *
+ * Use this in conjunction with hx_stream_send_next to
+ * set the frame to be transmitted.
+ *
+ * Use hx_stream_send() to write to the stream fd directly.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param data		Pointer to the data to send.
+ * @param count		The number of bytes to send.
+ * @return		Zero on success, -errno on error.
+ */
+__EXPORT extern int		hx_stream_start(hx_stream_t stream,
+		const void *data,
+		size_t count);
+
+/**
+ * Get the next byte to send for a stream.
+ *
+ * This requires that the stream be prepared for sending by
+ * calling hx_stream_start first.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @return		The byte to send, or -1 if there is
+ *			nothing left to send.
+ */
+__EXPORT extern int		hx_stream_send_next(hx_stream_t stream);
+
+/**
+ * Send a frame.
+ *
+ * This function will block until all frame bytes are sent if
+ * the descriptor passed to hx_stream_init is marked blocking,
+ * otherwise it will return -1 (but may transmit a
+ * runt frame at the same time).
+ *
+ * @todo Handling of non-blocking streams needs to be better.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param data		Pointer to the data to send.
+ * @param count		The number of bytes to send.
+ * @return		Zero on success, -errno on error.
+ */
+__EXPORT extern int		hx_stream_send(hx_stream_t stream,
+		const void *data,
+		size_t count);
+
+/**
+ * Handle a byte from the stream.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param c		The character to process.
+ */
+__EXPORT extern void		hx_stream_rx(hx_stream_t stream,
+		uint8_t c);
+
+__END_DECLS
+
+#endif

src/modules/px4iofirmware/px4io.c

@@ -54,7 +54,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <systemlib/systemlib.h>
 

src/modules/px4iofirmware/serial.c

@@ -51,7 +51,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 #include <stm32.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 //#define DEBUG
 #include "px4io.h"