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author | px4dev <px4@purgatory.org> | 2013-07-05 16:41:27 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-07-05 16:41:27 -0700 |
commit | 313231566c936927eef1fd4a8fc7012122342941 (patch) | |
tree | 88d3d03eee3b0f09a08af8fb69fb7e6d0a2ede78 /src/drivers/px4io | |
parent | e55a37697d56bfbec3bcd1febc9f0e185663f45d (diff) | |
download | px4-firmware-313231566c936927eef1fd4a8fc7012122342941.tar.gz px4-firmware-313231566c936927eef1fd4a8fc7012122342941.tar.bz2 px4-firmware-313231566c936927eef1fd4a8fc7012122342941.zip |
Encode the packet type and result in the unused high bits of the word count.
Diffstat (limited to 'src/drivers/px4io')
-rw-r--r-- | src/drivers/px4io/interface_serial.cpp | 26 |
1 files changed, 18 insertions, 8 deletions
diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp index 1ce9e9c6d..ffd852cf0 100644 --- a/src/drivers/px4io/interface_serial.cpp +++ b/src/drivers/px4io/interface_serial.cpp @@ -73,8 +73,7 @@ const unsigned max_rw_regs = 32; // by agreement w/IO #pragma pack(push, 1) struct IOPacket { - uint8_t count; -#define PKT_CTRL_WRITE (1<<7) + uint8_t count_code; uint8_t spare; uint8_t page; uint8_t offset; @@ -92,7 +91,18 @@ struct IOPacket { #define rCR3 REG(STM32_USART_CR3_OFFSET) #define rGTPR REG(STM32_USART_GTPR_OFFSET) -#define PKT_SIZE(_n) (4 + (2 * (_n))) +#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))) class PX4IO_serial : public PX4IO_interface { @@ -327,7 +337,7 @@ PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsi sem_wait(&_bus_semaphore); - _dma_buffer.count = num_values | PKT_CTRL_WRITE; + _dma_buffer.count_code = num_values | PKT_CODE_WRITE; _dma_buffer.spare = 0; _dma_buffer.page = page; _dma_buffer.offset = offset; @@ -338,7 +348,7 @@ PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsi /* XXX implement check byte */ /* start the transaction and wait for it to complete */ - int result = _wait_complete(false, PKT_SIZE(num_values)); + int result = _wait_complete(false, PKT_SIZE(_dma_buffer)); sem_post(&_bus_semaphore); return result; @@ -352,18 +362,18 @@ PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned n sem_wait(&_bus_semaphore); - _dma_buffer.count = num_values; + _dma_buffer.count_code = num_values | PKT_CODE_READ; _dma_buffer.spare = 0; _dma_buffer.page = page; _dma_buffer.offset = offset; /* start the transaction and wait for it to complete */ - int result = _wait_complete(true, PKT_SIZE(0)); + int result = _wait_complete(true, PKT_SIZE(_dma_buffer)); if (result != OK) goto out; /* compare the received count with the expected count */ - if (_dma_buffer.count != num_values) { + if (PKT_COUNT(_dma_buffer) != num_values) { return -EIO; } else { /* XXX implement check byte */ |