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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-09 08:44:57 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-09 08:44:57 +0100 |
commit | f5dfc241977e5095f4821d9f325a4d702905cb04 (patch) | |
tree | 3a39ed47f144a9706815086b36f6abd3a092512a /src/drivers/px4io/px4io.cpp | |
parent | c1ecdadd9ba70c909e153040b7698d50d7e7dfeb (diff) | |
download | px4-firmware-f5dfc241977e5095f4821d9f325a4d702905cb04.tar.gz px4-firmware-f5dfc241977e5095f4821d9f325a4d702905cb04.tar.bz2 px4-firmware-f5dfc241977e5095f4821d9f325a4d702905cb04.zip |
Allow to check IO CRC independent of the IO start status (retains the interface status, startet or unstarted
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 116 |
1 files changed, 71 insertions, 45 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index cbdd5acc4..0ca35d2f2 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -35,7 +35,7 @@ * @file px4io.cpp * Driver for the PX4IO board. * - * PX4IO is connected via I2C. + * PX4IO is connected via I2C or DMA enabled high-speed UART. */ #include <nuttx/config.h> @@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2); + if (ret) + return ret; + retries--; log("mixer sent"); @@ -2420,6 +2423,69 @@ detect(int argc, char *argv[]) } void +checkcrc(int argc, char *argv[]) +{ + bool keep_running = false; + + if (g_dev == nullptr) { + /* allocate the interface */ + device::Device *interface = get_interface(); + + /* create the driver - it will set g_dev */ + (void)new PX4IO(interface); + + if (g_dev == nullptr) + errx(1, "driver alloc failed"); + } else { + /* its already running, don't kill the driver */ + keep_running = true; + } + + /* + check IO CRC against CRC of a file + */ + if (argc < 2) { + printf("usage: px4io checkcrc filename\n"); + exit(1); + } + int fd = open(argv[1], O_RDONLY); + if (fd == -1) { + printf("open of %s failed - %d\n", argv[1], errno); + exit(1); + } + const uint32_t app_size_max = 0xf000; + uint32_t fw_crc = 0; + uint32_t nbytes = 0; + while (true) { + uint8_t buf[16]; + int n = read(fd, buf, sizeof(buf)); + if (n <= 0) break; + fw_crc = crc32part(buf, n, fw_crc); + nbytes += n; + } + close(fd); + while (nbytes < app_size_max) { + uint8_t b = 0xff; + fw_crc = crc32part(&b, 1, fw_crc); + nbytes++; + } + + int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc); + + if (!keep_running) { + delete g_dev; + g_dev = nullptr; + } + + if (ret != OK) { + printf("check CRC failed - %d\n", ret); + exit(1); + } + printf("CRCs match\n"); + exit(0); +} + +void bind(int argc, char *argv[]) { int pulses; @@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "detect")) detect(argc - 1, argv + 1); + if (!strcmp(argv[1], "checkcrc")) + checkcrc(argc - 1, argv + 1); + if (!strcmp(argv[1], "update")) { if (g_dev != nullptr) { @@ -2798,49 +2867,6 @@ px4io_main(int argc, char *argv[]) exit(0); } - if (!strcmp(argv[1], "checkcrc")) { - /* - check IO CRC against CRC of a file - */ - if (argc <= 2) { - printf("usage: px4io checkcrc filename\n"); - exit(1); - } - if (g_dev == nullptr) { - printf("px4io is not started\n"); - exit(1); - } - int fd = open(argv[2], O_RDONLY); - if (fd == -1) { - printf("open of %s failed - %d\n", argv[2], errno); - exit(1); - } - const uint32_t app_size_max = 0xf000; - uint32_t fw_crc = 0; - uint32_t nbytes = 0; - while (true) { - uint8_t buf[16]; - int n = read(fd, buf, sizeof(buf)); - if (n <= 0) break; - fw_crc = crc32part(buf, n, fw_crc); - nbytes += n; - } - close(fd); - while (nbytes < app_size_max) { - uint8_t b = 0xff; - fw_crc = crc32part(&b, 1, fw_crc); - nbytes++; - } - - int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc); - if (ret != OK) { - printf("check CRC failed - %d\n", ret); - exit(1); - } - printf("CRCs match\n"); - exit(0); - } - if (!strcmp(argv[1], "rx_dsm") || !strcmp(argv[1], "rx_dsm_10bit") || !strcmp(argv[1], "rx_dsm_11bit") || |