diff options
author | px4dev <px4@purgatory.org> | 2013-07-06 00:16:37 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-07-06 00:16:37 -0700 |
commit | 87a4f1507a3bca4bcae870b13ff5416669ededf0 (patch) | |
tree | 1110602072d43a222b1eed20ad5a5d69cea59ef8 /src/modules/px4iofirmware | |
parent | 19b2e1de8505be6ab23bedab7b105a20ac7af405 (diff) | |
download | px4-firmware-87a4f1507a3bca4bcae870b13ff5416669ededf0.tar.gz px4-firmware-87a4f1507a3bca4bcae870b13ff5416669ededf0.tar.bz2 px4-firmware-87a4f1507a3bca4bcae870b13ff5416669ededf0.zip |
Move the common definitions for the PX4IO serial protocol into the shared header.
Diffstat (limited to 'src/modules/px4iofirmware')
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 78 | ||||
-rw-r--r-- | src/modules/px4iofirmware/serial.c | 79 |
2 files changed, 80 insertions, 77 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index b19146b06..48ad4316f 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -206,3 +206,81 @@ struct px4io_mixdata { }; #pragma pack(pop) +/** + * Serial protocol encapsulation. + */ + +#define PKT_MAX_REGS 32 // by agreement w/FMU + +#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) + +#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 const uint8_t crc8_tab[256] __attribute__((unused)) = +{ + 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(struct IOPacket *pkt) __attribute__((unused)); +static uint8_t +crc_packet(struct 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; +} diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c index f19021d8c..8742044c3 100644 --- a/src/modules/px4iofirmware/serial.c +++ b/src/modules/px4iofirmware/serial.c @@ -77,33 +77,6 @@ static void dma_reset(void); /* if we spend this many ticks idle, reset the DMA */ static unsigned idle_ticks; -#define PKT_MAX_REGS 32 // by agreement w/FMU - -#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) - -#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 */ @@ -193,7 +166,7 @@ rx_handle_packet(void) /* check packet CRC */ uint8_t crc = dma_packet.crc; dma_packet.crc = 0; - if (crc != crc_packet()) { + if (crc != crc_packet(&dma_packet)) { perf_count(pc_crcerr); /* send a CRC error reply */ @@ -264,7 +237,7 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) /* send the reply to the previous request */ dma_packet.crc = 0; - dma_packet.crc = crc_packet(); + dma_packet.crc = crc_packet(&dma_packet); stm32_dmasetup( tx_dma, (uint32_t)&rDR, @@ -354,51 +327,3 @@ dma_reset(void) rCR3 |= USART_CR3_DMAR; } -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() -{ - uint8_t *end = (uint8_t *)(&dma_packet.regs[PKT_COUNT(dma_packet)]); - uint8_t *p = (uint8_t *)&dma_packet; - uint8_t c = 0; - - while (p < end) - c = crc8_tab[c ^ *(p++)]; - - return c; -} |