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| author | px4dev <px4@purgatory.org> | 2013-07-05 16:41:27 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-07-05 16:41:27 -0700 |
| commit | 313231566c936927eef1fd4a8fc7012122342941 (patch) | |
| tree | 88d3d03eee3b0f09a08af8fb69fb7e6d0a2ede78 /src/modules/px4iofirmware/serial.c | |
| 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/modules/px4iofirmware/serial.c')
| -rw-r--r-- | src/modules/px4iofirmware/serial.c | 26 |
1 files changed, 19 insertions, 7 deletions
diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c index c109cb57f..64ca6195a 100644 --- a/src/modules/px4iofirmware/serial.c +++ b/src/modules/px4iofirmware/serial.c @@ -80,8 +80,7 @@ static unsigned idle_ticks; #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; @@ -89,6 +88,21 @@ struct IOPacket { }; #pragma pack(pop) +#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(void); + static struct IOPacket dma_packet; /* serial register accessors */ @@ -192,12 +206,10 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) perf_count(pc_rx); /* default to not sending a reply */ - if (dma_packet.count & PKT_CTRL_WRITE) { - - dma_packet.count &= ~PKT_CTRL_WRITE; + if (PKT_CODE(dma_packet) == PKT_CODE_WRITE) { /* it's a blind write - pass it on */ - if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], dma_packet.count)) + if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], PKT_COUNT(dma_packet))) perf_count(pc_regerr); } else { @@ -217,7 +229,7 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) /* copy reply registers into DMA buffer */ memcpy((void *)&dma_packet.regs[0], registers, count); - dma_packet.count = count; + dma_packet.count_code = count | PKT_CODE_SUCCESS; } /* re-set DMA for reception first, so we are ready to receive before we start sending */ |