fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

bootloader UAVCAN uses upstream NuttX's new struct packing

Browse Source
This commit is contained in:
David Sidrane 2017-01-26 16:22:48 -10:00 committed by Daniel Agar
parent bf9a8a0bee
commit f6e82afff8
3 changed files with 44 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/drivers/bootloaders/include/boot_app_shared.h
View File

@ -98,7 +98,7 @@ typedef enum eRole {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes"
typedef struct packed_struct bootloader_app_shared_t {
typedef begin_packed_struct struct bootloader_app_shared_t {
union {
uint64_t ull;
uint32_t ul[2];
@ -107,7 +107,7 @@ typedef struct packed_struct bootloader_app_shared_t {
uint32_t signature;
uint32_t bus_speed;
uint32_t node_id;
} bootloader_app_shared_t ;
} end_packed_struct bootloader_app_shared_t;
#pragma GCC diagnostic pop
/****************************************************************************
@ -138,7 +138,7 @@ typedef struct packed_struct bootloader_app_shared_t {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes"
#pragma GCC diagnostic ignored "-Wpacked"
typedef struct packed_struct app_descriptor_t {
typedef begin_packed_struct struct app_descriptor_t {
uint8_t signature[sizeof(uint64_t)];
uint64_t image_crc;
uint32_t image_size;
@ -146,7 +146,7 @@ typedef struct packed_struct app_descriptor_t {
uint8_t major_version;
uint8_t minor_version;
uint8_t reserved[6];
} app_descriptor_t;
} end_packed_struct app_descriptor_t;
#pragma GCC diagnostic pop
/****************************************************************************

77
src/drivers/bootloaders/include/uavcan.h
View File

@ -201,12 +201,12 @@ typedef enum uavcan_general_t {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes"
#pragma GCC diagnostic ignored "-Wpacked"
typedef struct packed_struct can_id_t {
typedef begin_packed_struct struct can_id_t {
union {
uint32_t u32;
uint8_t b[sizeof(uint32_t)];
};
} can_id_t;
} end_packed_struct can_id_t;
/* UAVCAN CAN ID Usage: Message definition */
@ -258,11 +258,11 @@ uint32_t priority : LengthUavCanServicePriority;
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpacked"
typedef struct packed_struct can_tail_t {
typedef begin_packed_struct struct can_tail_t {
union {
uint8_t u8;
};
} can_tail_t;
} end_packed_struct can_tail_t;
#pragma GCC diagnostic pop
/* UAVCAN Tail Byte definitions */
@ -447,7 +447,7 @@ typedef enum uavcan_error_t {
*
*/
typedef struct packed_struct uavcan_protocol_t {
typedef begin_packed_struct struct uavcan_protocol_t {
union {
can_id_t id;
uavcan_message_t msg;
@ -458,7 +458,7 @@ typedef struct packed_struct uavcan_protocol_t {
can_tail_t tail_init;
uavcan_tail_t tail;
};
} uavcan_protocol_t;
} end_packed_struct uavcan_protocol_t;
/*
@ -487,7 +487,7 @@ typedef enum uavcan_NodeStatusConsts_t {
MODE_OFFLINE = 7,
} uavcan_NodeStatusConsts_t;
typedef struct packed_struct uavcan_NodeStatus_t {
typedef begin_packed_struct struct uavcan_NodeStatus_t {
uint32_t uptime_sec;
union {
uint8_t u8;
@ -498,7 +498,7 @@ uint8_t health : LengthNodeStatushealth;
};
};
uint16_t vendor_specific_status_code;
} uavcan_NodeStatus_t;
} end_packed_struct uavcan_NodeStatus_t;
/****************************************
* Uavcan GetNodeInfo composition
@ -510,25 +510,25 @@ typedef enum uavcan_SoftwareVersionConsts_t {
OPTIONAL_FIELD_FLAG_IMAGE_CRC = 2,
} uavcan_SoftwareVersionConsts_t;
typedef struct packed_struct uavcan_SoftwareVersion_t {
typedef begin_packed_struct struct uavcan_SoftwareVersion_t {
uint8_t major;
uint8_t minor;
uint8_t optional_field_flags;
uint32_t vcs_commit;
uint64_t image_crc;
} uavcan_SoftwareVersion_t;
} end_packed_struct uavcan_SoftwareVersion_t;
CCASSERT(PackedSizeSoftwareVersion == sizeof(uavcan_SoftwareVersion_t));
/* HardwareVersion */
typedef struct packed_struct uavcan_HardwareVersion_t {
typedef begin_packed_struct struct uavcan_HardwareVersion_t {
uint8_t major;
uint8_t minor;
uint8_t unique_id[PayloadLengthHardwareVersionunique_id];
uint8_t certificate_of_authenticity_length;
uint8_t certificate_of_authenticity[PayloadLengthHardwareVersioncertificate_of_authenticity];
} uavcan_HardwareVersion_t;
} end_packed_struct uavcan_HardwareVersion_t;
typedef enum uavcan_HardwareVersionConsts_t {
FixedSizeHardwareVersion = sizeof_member(uavcan_HardwareVersion_t, major) + \
@ -537,13 +537,13 @@ typedef enum uavcan_HardwareVersionConsts_t {
sizeof_member(uavcan_HardwareVersion_t, certificate_of_authenticity_length),
} uavcan_HardwareVersionConsts_t;
typedef struct packed_struct uavcan_GetNodeInfo_request_t {
typedef begin_packed_struct struct uavcan_GetNodeInfo_request_t {
uint8_t empty[CanPayloadLength];
} uavcan_GetNodeInfo_request_t;
} end_packed_struct uavcan_GetNodeInfo_request_t;
/* GetNodeInfo Response */
typedef struct packed_struct uavcan_GetNodeInfo_response_t {
typedef begin_packed_struct struct uavcan_GetNodeInfo_response_t {
uavcan_NodeStatus_t nodes_status;
uavcan_SoftwareVersion_t software_version;
@ -551,7 +551,7 @@ typedef struct packed_struct uavcan_GetNodeInfo_response_t {
uint8_t name[PayloadLengthGetNodeInfoname];
uint8_t name_length;
} uavcan_GetNodeInfo_response_t;
} end_packed_struct uavcan_GetNodeInfo_response_t;
typedef enum uavcan_GetNodeInfoConsts_t {
FixedSizeGetNodeInfo = PackedSizeMsgNodeStatus + PackedSizeSoftwareVersion + FixedSizeHardwareVersion,
@ -569,15 +569,14 @@ typedef enum uavcan_LogMessageConsts_t {
LOGMESSAGE_LEVELERROR = 3,
} uavcan_LogMessageConsts_t;
typedef struct packed_struct uavcan_LogMessage_t {
typedef begin_packed_struct struct uavcan_LogMessage_t {
uint8_t level;
uint8_t source[uavcan_byte_count(LogMessage, source)];
uint8_t text[uavcan_byte_count(LogMessage, text)];
} uavcan_LogMessage_t;
} end_packed_struct uavcan_LogMessage_t;
CCASSERT(sizeof(uavcan_LogMessage_t) == PackedSizeMsgLogMessage);
/****************************************
* Uavcan Allocation
****************************************/
@ -593,10 +592,10 @@ typedef enum uavcan_AllocationConsts_t {
PriorityAllocation = UavcanPriorityMin - 1,
} uavcan_AllocationConsts_t;
typedef struct packed_struct uavcan_Allocation_t {
typedef begin_packed_struct struct uavcan_Allocation_t {
uint8_t node_id; /* bottom bit is the first part flag */
uint8_t unique_id[PayloadLengthAllocationunique_id];
} uavcan_Allocation_t;
} end_packed_struct uavcan_Allocation_t;
/****************************************
@ -604,13 +603,13 @@ typedef struct packed_struct uavcan_Allocation_t {
****************************************/
typedef struct packed_struct uavcan_Path_t {
typedef begin_packed_struct struct uavcan_Path_t {
uint8_t u8[PayloadLengthPathpath];
} uavcan_Path_t;
typedef enum uavcan_PathConst_t {
SEPARATOR = '/',
} uavcan_PathConst_t;
} end_packed_struct uavcan_PathConst_t;
/****************************************
* Uavcan GetInfo Composition
@ -629,9 +628,9 @@ typedef enum uavcan_ErrorConst_t {
FILE_ERROR_NOT_IMPLEMENTED = 38,
} uavcan_ErrorConst_t;
typedef struct packed_struct uavcan_Error_t {
typedef begin_packed_struct struct uavcan_Error_t {
uint16_t value;
} uavcan_Error_t;
} end_packed_struct uavcan_Error_t;
typedef enum uavcan_EntryTypeConst_t {
ENTRY_TYPE_FLAG_FILE = 1,
@ -641,9 +640,9 @@ typedef enum uavcan_EntryTypeConst_t {
ENTRY_TYPE_FLAG_WRITEABLE = 16,
} uavcan_EntryTypeConst_t;
typedef struct packed_struct uavcan_EntryType_t {
typedef begin_packed_struct struct uavcan_EntryType_t {
uint8_t flags;
} uavcan_EntryType_t;
} end_packed_struct uavcan_EntryType_t;
/****************************************
@ -657,14 +656,14 @@ typedef enum uavcan_BeginFirmwareUpdateConst_t {
ERROR_UNKNOWN = 255,
} uavcan_BeginFirmwareUpdateConst_t;
typedef struct packed_struct uavcan_BeginFirmwareUpdate_request {
typedef begin_packed_struct struct uavcan_BeginFirmwareUpdate_request {
uint8_t source_node_id;
uavcan_Path_t image_file_remote_path;
} uavcan_BeginFirmwareUpdate_request;
} end_packed_struct uavcan_BeginFirmwareUpdate_request;
typedef struct packed_struct uavcan_BeginFirmwareUpdate_response {
typedef begin_packed_struct struct uavcan_BeginFirmwareUpdate_response {
uint8_t error;
} uavcan_BeginFirmwareUpdate_response;
} end_packed_struct uavcan_BeginFirmwareUpdate_response;
@ -672,31 +671,31 @@ typedef struct packed_struct uavcan_BeginFirmwareUpdate_response {
* Uavcan GetInfo
****************************************/
typedef struct packed_struct uavcan_GetInfo_request_t {
typedef begin_packed_struct struct uavcan_GetInfo_request_t {
uavcan_Path_t path;
} uavcan_GetInfo_request_t;
typedef enum uavcan_GetInfo_requestConst_t {
FixedSizeGetInfoRequest = 0,
} uavcan_GetInfo_requestConst_t;
} end_packed_struct uavcan_GetInfo_requestConst_t;
typedef struct packed_struct uavcan_GetInfo_response_t {
typedef begin_packed_struct struct uavcan_GetInfo_response_t {
uint32_t size;
uint8_t msbsize;
uavcan_Error_t error;
uavcan_EntryType_t entry_type;
} uavcan_GetInfo_response_t;
} end_packed_struct uavcan_GetInfo_response_t;
/****************************************
* Uavcan Read Composition
****************************************/
typedef struct packed_struct uavcan_Read_request_t {
typedef begin_packed_struct struct uavcan_Read_request_t {
uint32_t offset;
uint8_t msboffset;
uavcan_Path_t path;
} uavcan_Read_request_t;
} end_packed_struct uavcan_Read_request_t;
typedef enum uavcan_ReadRequestConsts_t {
@ -705,10 +704,10 @@ typedef enum uavcan_ReadRequestConsts_t {
} uavcan_ReadRequestConsts_t;
typedef struct packed_struct uavcan_Read_response_t {
typedef begin_packed_struct struct uavcan_Read_response_t {
uavcan_Error_t error;
uint8_t data[PayloadLengthReaddata];
} uavcan_Read_response_t;
} end_packed_struct uavcan_Read_response_t;
/****************************************************************************
* Global Variables

4
src/drivers/bootloaders/src/protocol/uavcan.c
View File

@ -66,14 +66,14 @@
/****************************************************************************
* Private Types
****************************************************************************/
typedef struct packed_struct dsdl_t {
typedef begin_packed_struct struct dsdl_t {
uavcan_protocol_t prototype;
uint16_t signature_crc16;
uint8_t intail;
uint8_t outtail;
uint8_t mailbox : 2;
uint8_t fifo : 2;
} dsdl_t;
} end_packed_struct dsdl_t;
/* Values used in filter initialization */