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bootloader UAVCAN uses upstream NuttX's new struct packing

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This commit is contained in:
David Sidrane
2017-09-29 10:13:51 -04:00
committed by Daniel Agar
parent bf9a8a0bee
commit f6e82afff8
3 changed files with 44 additions and 45 deletions
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src/drivers/bootloaders/include/boot_app_shared.h
+4 -4
View File
@@ -98,7 +98,7 @@ typedef enum eRole {
#pragma GCC diagnostic push #pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes" #pragma GCC diagnostic ignored "-Wattributes"
typedef struct packed_struct bootloader_app_shared_t { typedef begin_packed_struct struct bootloader_app_shared_t {
union { union {
uint64_t ull; uint64_t ull;
uint32_t ul[2]; uint32_t ul[2];
@@ -107,7 +107,7 @@ typedef struct packed_struct bootloader_app_shared_t {
uint32_t signature; uint32_t signature;
uint32_t bus_speed; uint32_t bus_speed;
uint32_t node_id; uint32_t node_id;
} bootloader_app_shared_t ; } end_packed_struct bootloader_app_shared_t;
#pragma GCC diagnostic pop #pragma GCC diagnostic pop
/**************************************************************************** /****************************************************************************
@@ -138,7 +138,7 @@ typedef struct packed_struct bootloader_app_shared_t {
#pragma GCC diagnostic push #pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes" #pragma GCC diagnostic ignored "-Wattributes"
#pragma GCC diagnostic ignored "-Wpacked" #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)]; uint8_t signature[sizeof(uint64_t)];
uint64_t image_crc; uint64_t image_crc;
uint32_t image_size; uint32_t image_size;
@@ -146,7 +146,7 @@ typedef struct packed_struct app_descriptor_t {
uint8_t major_version; uint8_t major_version;
uint8_t minor_version; uint8_t minor_version;
uint8_t reserved[6]; uint8_t reserved[6];
} app_descriptor_t; } end_packed_struct app_descriptor_t;
#pragma GCC diagnostic pop #pragma GCC diagnostic pop
/**************************************************************************** /****************************************************************************
src/drivers/bootloaders/include/uavcan.h
+38 -39
View File
@@ -201,12 +201,12 @@ typedef enum uavcan_general_t {
#pragma GCC diagnostic push #pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes" #pragma GCC diagnostic ignored "-Wattributes"
#pragma GCC diagnostic ignored "-Wpacked" #pragma GCC diagnostic ignored "-Wpacked"
typedef struct packed_struct can_id_t { typedef begin_packed_struct struct can_id_t {
union { union {
uint32_t u32; uint32_t u32;
uint8_t b[sizeof(uint32_t)]; uint8_t b[sizeof(uint32_t)];
}; };
} can_id_t; } end_packed_struct can_id_t;
/* UAVCAN CAN ID Usage: Message definition */ /* UAVCAN CAN ID Usage: Message definition */
@@ -258,11 +258,11 @@ uint32_t priority : LengthUavCanServicePriority;
#pragma GCC diagnostic push #pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpacked" #pragma GCC diagnostic ignored "-Wpacked"
typedef struct packed_struct can_tail_t { typedef begin_packed_struct struct can_tail_t {
union { union {
uint8_t u8; uint8_t u8;
}; };
} can_tail_t; } end_packed_struct can_tail_t;
#pragma GCC diagnostic pop #pragma GCC diagnostic pop
/* UAVCAN Tail Byte definitions */ /* 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 { union {
can_id_t id; can_id_t id;
uavcan_message_t msg; uavcan_message_t msg;
@@ -458,7 +458,7 @@ typedef struct packed_struct uavcan_protocol_t {
can_tail_t tail_init; can_tail_t tail_init;
uavcan_tail_t tail; 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, MODE_OFFLINE = 7,
} uavcan_NodeStatusConsts_t; } uavcan_NodeStatusConsts_t;
typedef struct packed_struct uavcan_NodeStatus_t { typedef begin_packed_struct struct uavcan_NodeStatus_t {
uint32_t uptime_sec; uint32_t uptime_sec;
union { union {
uint8_t u8; uint8_t u8;
@@ -498,7 +498,7 @@ uint8_t health : LengthNodeStatushealth;
}; };
}; };
uint16_t vendor_specific_status_code; uint16_t vendor_specific_status_code;
} uavcan_NodeStatus_t; } end_packed_struct uavcan_NodeStatus_t;
/**************************************** /****************************************
* Uavcan GetNodeInfo composition * Uavcan GetNodeInfo composition
@@ -510,25 +510,25 @@ typedef enum uavcan_SoftwareVersionConsts_t {
OPTIONAL_FIELD_FLAG_IMAGE_CRC = 2, OPTIONAL_FIELD_FLAG_IMAGE_CRC = 2,
} uavcan_SoftwareVersionConsts_t; } uavcan_SoftwareVersionConsts_t;
typedef struct packed_struct uavcan_SoftwareVersion_t { typedef begin_packed_struct struct uavcan_SoftwareVersion_t {
uint8_t major; uint8_t major;
uint8_t minor; uint8_t minor;
uint8_t optional_field_flags; uint8_t optional_field_flags;
uint32_t vcs_commit; uint32_t vcs_commit;
uint64_t image_crc; uint64_t image_crc;
} uavcan_SoftwareVersion_t; } end_packed_struct uavcan_SoftwareVersion_t;
CCASSERT(PackedSizeSoftwareVersion == sizeof(uavcan_SoftwareVersion_t)); CCASSERT(PackedSizeSoftwareVersion == sizeof(uavcan_SoftwareVersion_t));
/* HardwareVersion */ /* HardwareVersion */
typedef struct packed_struct uavcan_HardwareVersion_t { typedef begin_packed_struct struct uavcan_HardwareVersion_t {
uint8_t major; uint8_t major;
uint8_t minor; uint8_t minor;
uint8_t unique_id[PayloadLengthHardwareVersionunique_id]; uint8_t unique_id[PayloadLengthHardwareVersionunique_id];
uint8_t certificate_of_authenticity_length; uint8_t certificate_of_authenticity_length;
uint8_t certificate_of_authenticity[PayloadLengthHardwareVersioncertificate_of_authenticity]; uint8_t certificate_of_authenticity[PayloadLengthHardwareVersioncertificate_of_authenticity];
} uavcan_HardwareVersion_t; } end_packed_struct uavcan_HardwareVersion_t;
typedef enum uavcan_HardwareVersionConsts_t { typedef enum uavcan_HardwareVersionConsts_t {
FixedSizeHardwareVersion = sizeof_member(uavcan_HardwareVersion_t, major) + \ 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), sizeof_member(uavcan_HardwareVersion_t, certificate_of_authenticity_length),
} uavcan_HardwareVersionConsts_t; } uavcan_HardwareVersionConsts_t;
typedef struct packed_struct uavcan_GetNodeInfo_request_t { typedef begin_packed_struct struct uavcan_GetNodeInfo_request_t {
uint8_t empty[CanPayloadLength]; uint8_t empty[CanPayloadLength];
} uavcan_GetNodeInfo_request_t; } end_packed_struct uavcan_GetNodeInfo_request_t;
/* GetNodeInfo Response */ /* 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_NodeStatus_t nodes_status;
uavcan_SoftwareVersion_t software_version; uavcan_SoftwareVersion_t software_version;
@@ -551,7 +551,7 @@ typedef struct packed_struct uavcan_GetNodeInfo_response_t {
uint8_t name[PayloadLengthGetNodeInfoname]; uint8_t name[PayloadLengthGetNodeInfoname];
uint8_t name_length; uint8_t name_length;
} uavcan_GetNodeInfo_response_t; } end_packed_struct uavcan_GetNodeInfo_response_t;
typedef enum uavcan_GetNodeInfoConsts_t { typedef enum uavcan_GetNodeInfoConsts_t {
FixedSizeGetNodeInfo = PackedSizeMsgNodeStatus + PackedSizeSoftwareVersion + FixedSizeHardwareVersion, FixedSizeGetNodeInfo = PackedSizeMsgNodeStatus + PackedSizeSoftwareVersion + FixedSizeHardwareVersion,
@@ -569,15 +569,14 @@ typedef enum uavcan_LogMessageConsts_t {
LOGMESSAGE_LEVELERROR = 3, LOGMESSAGE_LEVELERROR = 3,
} uavcan_LogMessageConsts_t; } uavcan_LogMessageConsts_t;
typedef struct packed_struct uavcan_LogMessage_t { typedef begin_packed_struct struct uavcan_LogMessage_t {
uint8_t level; uint8_t level;
uint8_t source[uavcan_byte_count(LogMessage, source)]; uint8_t source[uavcan_byte_count(LogMessage, source)];
uint8_t text[uavcan_byte_count(LogMessage, text)]; uint8_t text[uavcan_byte_count(LogMessage, text)];
} uavcan_LogMessage_t; } end_packed_struct uavcan_LogMessage_t;
CCASSERT(sizeof(uavcan_LogMessage_t) == PackedSizeMsgLogMessage); CCASSERT(sizeof(uavcan_LogMessage_t) == PackedSizeMsgLogMessage);
/**************************************** /****************************************
* Uavcan Allocation * Uavcan Allocation
****************************************/ ****************************************/
@@ -593,10 +592,10 @@ typedef enum uavcan_AllocationConsts_t {
PriorityAllocation = UavcanPriorityMin - 1, PriorityAllocation = UavcanPriorityMin - 1,
} uavcan_AllocationConsts_t; } 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 node_id; /* bottom bit is the first part flag */
uint8_t unique_id[PayloadLengthAllocationunique_id]; 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]; uint8_t u8[PayloadLengthPathpath];
} uavcan_Path_t; } uavcan_Path_t;
typedef enum uavcan_PathConst_t { typedef enum uavcan_PathConst_t {
SEPARATOR = '/', SEPARATOR = '/',
} uavcan_PathConst_t; } end_packed_struct uavcan_PathConst_t;
/**************************************** /****************************************
* Uavcan GetInfo Composition * Uavcan GetInfo Composition
@@ -629,9 +628,9 @@ typedef enum uavcan_ErrorConst_t {
FILE_ERROR_NOT_IMPLEMENTED = 38, FILE_ERROR_NOT_IMPLEMENTED = 38,
} uavcan_ErrorConst_t; } uavcan_ErrorConst_t;
typedef struct packed_struct uavcan_Error_t { typedef begin_packed_struct struct uavcan_Error_t {
uint16_t value; uint16_t value;
} uavcan_Error_t; } end_packed_struct uavcan_Error_t;
typedef enum uavcan_EntryTypeConst_t { typedef enum uavcan_EntryTypeConst_t {
ENTRY_TYPE_FLAG_FILE = 1, ENTRY_TYPE_FLAG_FILE = 1,
@@ -641,9 +640,9 @@ typedef enum uavcan_EntryTypeConst_t {
ENTRY_TYPE_FLAG_WRITEABLE = 16, ENTRY_TYPE_FLAG_WRITEABLE = 16,
} uavcan_EntryTypeConst_t; } uavcan_EntryTypeConst_t;
typedef struct packed_struct uavcan_EntryType_t { typedef begin_packed_struct struct uavcan_EntryType_t {
uint8_t flags; uint8_t flags;
} uavcan_EntryType_t; } end_packed_struct uavcan_EntryType_t;
/**************************************** /****************************************
@@ -657,14 +656,14 @@ typedef enum uavcan_BeginFirmwareUpdateConst_t {
ERROR_UNKNOWN = 255, ERROR_UNKNOWN = 255,
} uavcan_BeginFirmwareUpdateConst_t; } uavcan_BeginFirmwareUpdateConst_t;
typedef struct packed_struct uavcan_BeginFirmwareUpdate_request { typedef begin_packed_struct struct uavcan_BeginFirmwareUpdate_request {
uint8_t source_node_id; uint8_t source_node_id;
uavcan_Path_t image_file_remote_path; 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; 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 * Uavcan GetInfo
****************************************/ ****************************************/
typedef struct packed_struct uavcan_GetInfo_request_t { typedef begin_packed_struct struct uavcan_GetInfo_request_t {
uavcan_Path_t path; uavcan_Path_t path;
} uavcan_GetInfo_request_t; } uavcan_GetInfo_request_t;
typedef enum uavcan_GetInfo_requestConst_t { typedef enum uavcan_GetInfo_requestConst_t {
FixedSizeGetInfoRequest = 0, 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; uint32_t size;
uint8_t msbsize; uint8_t msbsize;
uavcan_Error_t error; uavcan_Error_t error;
uavcan_EntryType_t entry_type; uavcan_EntryType_t entry_type;
} uavcan_GetInfo_response_t; } end_packed_struct uavcan_GetInfo_response_t;
/**************************************** /****************************************
* Uavcan Read Composition * Uavcan Read Composition
****************************************/ ****************************************/
typedef struct packed_struct uavcan_Read_request_t { typedef begin_packed_struct struct uavcan_Read_request_t {
uint32_t offset; uint32_t offset;
uint8_t msboffset; uint8_t msboffset;
uavcan_Path_t path; uavcan_Path_t path;
} uavcan_Read_request_t; } end_packed_struct uavcan_Read_request_t;
typedef enum uavcan_ReadRequestConsts_t { typedef enum uavcan_ReadRequestConsts_t {
@@ -705,10 +704,10 @@ typedef enum uavcan_ReadRequestConsts_t {
} 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; uavcan_Error_t error;
uint8_t data[PayloadLengthReaddata]; uint8_t data[PayloadLengthReaddata];
} uavcan_Read_response_t; } end_packed_struct uavcan_Read_response_t;
/**************************************************************************** /****************************************************************************
* Global Variables * Global Variables
src/drivers/bootloaders/src/protocol/uavcan.c
+2 -2
View File
@@ -66,14 +66,14 @@
/**************************************************************************** /****************************************************************************
* Private Types * Private Types
****************************************************************************/ ****************************************************************************/
typedef struct packed_struct dsdl_t { typedef begin_packed_struct struct dsdl_t {
uavcan_protocol_t prototype; uavcan_protocol_t prototype;
uint16_t signature_crc16; uint16_t signature_crc16;
uint8_t intail; uint8_t intail;
uint8_t outtail; uint8_t outtail;
uint8_t mailbox : 2; uint8_t mailbox : 2;
uint8_t fifo : 2; uint8_t fifo : 2;
} dsdl_t; } end_packed_struct dsdl_t;
/* Values used in filter initialization */ /* Values used in filter initialization */