Move the common definitions for the PX4IO serial protocol into the shared header.

1 files changed, 2 insertions, 79 deletions

diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp
index 7e4a54ea5..7e0eb1926 100644
--- a/src/drivers/px4io/interface_serial.cpp
+++ b/src/drivers/px4io/interface_serial.cpp
@@ -69,18 +69,6 @@
 
 #include "interface.h"
 
-#define	PKT_MAX_REGS	32 // by agreement w/IO
-
-#pragma pack(push, 1)
-struct IOPacket {
-	uint8_t 	count_code;
-	uint8_t 	crc;
-	uint8_t 	page;
-	uint8_t 	offset;
-	uint16_t	regs[PKT_MAX_REGS];
-};
-#pragma pack(pop)
-
 /* serial register accessors */
 #define REG(_x)		(*(volatile uint32_t *)(PX4IO_SERIAL_BASE + _x))
 #define rSR		REG(STM32_USART_SR_OFFSET)
@@ -91,22 +79,6 @@ struct IOPacket {
 #define rCR3		REG(STM32_USART_CR3_OFFSET)
 #define rGTPR		REG(STM32_USART_GTPR_OFFSET)
 
-#define PKT_CODE_READ		0x00	/* FMU->IO read transaction */
-#define PKT_CODE_WRITE		0x40	/* FMU->IO write transaction */
-#define PKT_CODE_SUCCESS	0x00	/* IO->FMU success reply */
-#define PKT_CODE_CORRUPT	0x40	/* IO->FMU bad packet reply */
-#define PKT_CODE_ERROR		0x80	/* IO->FMU register op error reply */
-
-#define PKT_CODE_MASK		0xc0
-#define PKT_COUNT_MASK		0x3f
-
-#define PKT_COUNT(_p)	((_p).count_code & PKT_COUNT_MASK)
-#define PKT_CODE(_p)	((_p).count_code & PKT_CODE_MASK)
-#define PKT_SIZE(_p)	((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
-
-static uint8_t		crc_packet(IOPacket &pkt);
-
-
 class PX4IO_serial : public PX4IO_interface
 {
 public:
@@ -496,7 +468,7 @@ PX4IO_serial::_wait_complete()
 	/* start TX DMA - no callback if we also expect a reply */
 	/* DMA setup time ~3µs */
 	_dma_buffer.crc = 0;
-	_dma_buffer.crc = crc_packet(_dma_buffer);
+	_dma_buffer.crc = crc_packet(&_dma_buffer);
 	stm32_dmasetup(
 		_tx_dma,
 		PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET,
@@ -543,7 +515,7 @@ 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)) {
+			if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
 				perf_count(_pc_crcerrs);
 				ret = -1;
 				errno = EIO;
@@ -683,52 +655,3 @@ PX4IO_serial::_abort_dma()
 	stm32_dmastop(_tx_dma);
 	stm32_dmastop(_rx_dma);
 }
-
-static const uint8_t crc8_tab[256] =
-{
-	0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
-	0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
-	0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
-	0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
-	0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
-	0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
-	0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
-	0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
-	0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
-	0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
-	0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
-	0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
-	0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
-	0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
-	0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
-	0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
-	0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
-	0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
-	0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
-	0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
-	0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
-	0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
-	0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
-	0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
-	0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
-	0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
-	0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
-	0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
-	0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
-	0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
-	0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
-	0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
-};
-
-static uint8_t
-crc_packet(IOPacket &pkt)
-{
-	uint8_t *end = (uint8_t *)(&pkt.regs[PKT_COUNT(pkt)]);
-	uint8_t *p = (uint8_t *)&pkt;
-	uint8_t c = 0;
-
-	while (p < end)
-		c = crc8_tab[c ^ *(p++)];
-
-	return c;
-}