mirror of
https://bitbucket.org/librepilot/librepilot.git
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Whitespace fix (removing spaces)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2762 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
8498512855
commit
93ee2765be
@ -51,22 +51,22 @@
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// CRC lookup table
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static const uint8_t crc_table[256] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
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0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
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0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
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0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
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0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
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0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
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0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
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0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
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0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
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0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
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0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
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0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
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0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
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0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
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0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
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0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
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0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
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0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
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0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
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0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
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0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
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0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
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0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
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0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
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0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
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0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
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0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
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0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
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0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
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};
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// Private types
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@ -100,13 +100,13 @@ static void updateAck(UAVObjHandle obj, uint16_t instId);
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*/
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int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream)
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{
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outStream = outputStream;
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lock = xSemaphoreCreateRecursiveMutex();
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transLock = xSemaphoreCreateRecursiveMutex();
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vSemaphoreCreateBinary(respSema);
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xSemaphoreTake(respSema, 0); // reset to zero
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UAVTalkResetStats();
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return 0;
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outStream = outputStream;
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lock = xSemaphoreCreateRecursiveMutex();
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transLock = xSemaphoreCreateRecursiveMutex();
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vSemaphoreCreateBinary(respSema);
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xSemaphoreTake(respSema, 0); // reset to zero
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UAVTalkResetStats();
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return 0;
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}
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/**
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@ -116,13 +116,13 @@ int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream)
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void UAVTalkGetStats(UAVTalkStats* statsOut)
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{
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// Lock
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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// Copy stats
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memcpy(statsOut, &stats, sizeof(UAVTalkStats));
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// Release lock
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xSemaphoreGiveRecursive(lock);
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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// Copy stats
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memcpy(statsOut, &stats, sizeof(UAVTalkStats));
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// Release lock
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xSemaphoreGiveRecursive(lock);
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}
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/**
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@ -131,13 +131,13 @@ void UAVTalkGetStats(UAVTalkStats* statsOut)
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void UAVTalkResetStats()
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{
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// Lock
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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// Clear stats
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memset(&stats, 0, sizeof(UAVTalkStats));
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// Release lock
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xSemaphoreGiveRecursive(lock);
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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// Clear stats
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memset(&stats, 0, sizeof(UAVTalkStats));
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// Release lock
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xSemaphoreGiveRecursive(lock);
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}
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/**
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@ -151,7 +151,7 @@ void UAVTalkResetStats()
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*/
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int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t timeout)
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{
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return objectTransaction(obj, instId, TYPE_OBJ_REQ, timeout);
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return objectTransaction(obj, instId, TYPE_OBJ_REQ, timeout);
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}
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/**
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@ -166,14 +166,14 @@ int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t time
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int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs)
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{
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// Send object
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if (acked == 1)
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{
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return objectTransaction(obj, instId, TYPE_OBJ_ACK, timeoutMs);
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}
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else
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{
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return objectTransaction(obj, instId, TYPE_OBJ, timeoutMs);
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}
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if (acked == 1)
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{
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return objectTransaction(obj, instId, TYPE_OBJ_ACK, timeoutMs);
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}
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else
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{
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return objectTransaction(obj, instId, TYPE_OBJ, timeoutMs);
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}
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}
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/**
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@ -190,48 +190,48 @@ int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int3
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static int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type, int32_t timeoutMs)
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{
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int32_t respReceived;
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// Send object depending on if a response is needed
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if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
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{
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// Get transaction lock (will block if a transaction is pending)
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xSemaphoreTakeRecursive(transLock, portMAX_DELAY);
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// Send object
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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respObj = obj;
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respInstId = instId;
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sendObject(obj, instId, type);
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xSemaphoreGiveRecursive(lock);
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// Wait for response (or timeout)
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respReceived = xSemaphoreTake(respSema, timeoutMs/portTICK_RATE_MS);
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// Check if a response was received
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if (respReceived == pdFALSE)
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{
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// Cancel transaction
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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xSemaphoreTake(respSema, 0); // non blocking call to make sure the value is reset to zero (binary sema)
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respObj = 0;
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xSemaphoreGiveRecursive(lock);
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xSemaphoreGiveRecursive(transLock);
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return -1;
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}
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else
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{
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xSemaphoreGiveRecursive(transLock);
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return 0;
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}
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}
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else if (type == TYPE_OBJ)
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{
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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sendObject(obj, instId, TYPE_OBJ);
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xSemaphoreGiveRecursive(lock);
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return 0;
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}
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else
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{
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return -1;
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}
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// Send object depending on if a response is needed
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if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
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{
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// Get transaction lock (will block if a transaction is pending)
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xSemaphoreTakeRecursive(transLock, portMAX_DELAY);
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// Send object
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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respObj = obj;
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respInstId = instId;
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sendObject(obj, instId, type);
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xSemaphoreGiveRecursive(lock);
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// Wait for response (or timeout)
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respReceived = xSemaphoreTake(respSema, timeoutMs/portTICK_RATE_MS);
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// Check if a response was received
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if (respReceived == pdFALSE)
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{
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// Cancel transaction
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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xSemaphoreTake(respSema, 0); // non blocking call to make sure the value is reset to zero (binary sema)
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respObj = 0;
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xSemaphoreGiveRecursive(lock);
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xSemaphoreGiveRecursive(transLock);
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return -1;
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}
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else
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{
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xSemaphoreGiveRecursive(transLock);
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return 0;
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}
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}
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else if (type == TYPE_OBJ)
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{
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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sendObject(obj, instId, TYPE_OBJ);
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xSemaphoreGiveRecursive(lock);
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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@ -242,130 +242,130 @@ static int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type
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*/
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int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
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{
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static uint8_t tmpBuffer[4];
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static UAVObjHandle obj;
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static uint8_t type;
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static uint16_t packet_size;
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static uint32_t objId;
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static uint16_t instId;
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static uint32_t length;
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static uint8_t cs, csRx;
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static int32_t rxCount;
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static RxState state = STATE_SYNC;
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static uint16_t rxPacketLength = 0;
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++stats.rxBytes;
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if (rxPacketLength < 0xffff)
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rxPacketLength++; // update packet byte count
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// Receive state machine
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switch (state)
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{
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static uint8_t tmpBuffer[4];
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static UAVObjHandle obj;
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static uint8_t type;
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static uint16_t packet_size;
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static uint32_t objId;
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static uint16_t instId;
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static uint32_t length;
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static uint8_t cs, csRx;
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static int32_t rxCount;
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static RxState state = STATE_SYNC;
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static uint16_t rxPacketLength = 0;
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++stats.rxBytes;
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if (rxPacketLength < 0xffff)
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rxPacketLength++; // update packet byte count
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// Receive state machine
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switch (state)
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{
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case STATE_SYNC:
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if (rxbyte != SYNC_VAL)
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break;
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// Initialize and update the CRC
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cs = updateCRCbyte(0, rxbyte);
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rxPacketLength = 1;
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state = STATE_TYPE;
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break;
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case STATE_TYPE:
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// update the CRC
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cs = updateCRCbyte(cs, rxbyte);
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if ((rxbyte & TYPE_MASK) != TYPE_VER)
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{
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state = STATE_SYNC;
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break;
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}
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type = rxbyte;
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packet_size = 0;
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state = STATE_SIZE;
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rxCount = 0;
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break;
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case STATE_SIZE:
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// update the CRC
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cs = updateCRCbyte(cs, rxbyte);
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if (rxCount == 0)
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{
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packet_size += rxbyte;
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rxCount++;
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break;
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}
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packet_size += rxbyte << 8;
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if (packet_size < MIN_HEADER_LENGTH || packet_size > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
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{ // incorrect packet size
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state = STATE_SYNC;
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break;
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}
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if (packet_size < MIN_HEADER_LENGTH || packet_size > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
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{ // incorrect packet size
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state = STATE_SYNC;
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break;
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}
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rxCount = 0;
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state = STATE_OBJID;
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break;
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case STATE_OBJID:
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// update the CRC
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cs = updateCRCbyte(cs, rxbyte);
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tmpBuffer[rxCount++] = rxbyte;
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if (rxCount < 4)
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break;
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// Search for object, if not found reset state machine
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objId = (tmpBuffer[3] << 24) | (tmpBuffer[2] << 16) | (tmpBuffer[1] << 8) | (tmpBuffer[0]);
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obj = UAVObjGetByID(objId);
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if (obj == 0)
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{
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stats.rxErrors++;
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state = STATE_SYNC;
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break;
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}
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// Determine data length
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if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
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length = 0;
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else
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length = UAVObjGetNumBytes(obj);
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// Check length and determine next state
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if (length >= MAX_PAYLOAD_LENGTH)
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if (obj == 0)
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{
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stats.rxErrors++;
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state = STATE_SYNC;
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break;
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}
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// Check the lengths match
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if ((rxPacketLength + length) != packet_size)
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{ // packet error - mismatched packet size
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stats.rxErrors++;
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state = STATE_SYNC;
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break;
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}
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// Check if this is a single instance object (i.e. if the instance ID field is coming next)
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// Determine data length
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if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
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length = 0;
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else
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length = UAVObjGetNumBytes(obj);
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// Check length and determine next state
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if (length >= MAX_PAYLOAD_LENGTH)
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{
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||||
stats.rxErrors++;
|
||||
state = STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
// Check the lengths match
|
||||
if ((rxPacketLength + length) != packet_size)
|
||||
{ // packet error - mismatched packet size
|
||||
stats.rxErrors++;
|
||||
state = STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
|
||||
if (UAVObjIsSingleInstance(obj))
|
||||
{
|
||||
// If there is a payload get it, otherwise receive checksum
|
||||
if (length > 0)
|
||||
state = STATE_DATA;
|
||||
else
|
||||
state = STATE_CS;
|
||||
if (length > 0)
|
||||
state = STATE_DATA;
|
||||
else
|
||||
state = STATE_CS;
|
||||
instId = 0;
|
||||
rxCount = 0;
|
||||
}
|
||||
@ -374,78 +374,78 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
state = STATE_INSTID;
|
||||
rxCount = 0;
|
||||
}
|
||||
|
||||
|
||||
break;
|
||||
|
||||
|
||||
case STATE_INSTID:
|
||||
|
||||
|
||||
// update the CRC
|
||||
cs = updateCRCbyte(cs, rxbyte);
|
||||
|
||||
|
||||
tmpBuffer[rxCount++] = rxbyte;
|
||||
if (rxCount < 2)
|
||||
break;
|
||||
|
||||
instId = (tmpBuffer[1] << 8) | (tmpBuffer[0]);
|
||||
|
||||
rxCount = 0;
|
||||
|
||||
// If there is a payload get it, otherwise receive checksum
|
||||
if (length > 0)
|
||||
state = STATE_DATA;
|
||||
else
|
||||
state = STATE_CS;
|
||||
|
||||
break;
|
||||
|
||||
|
||||
instId = (tmpBuffer[1] << 8) | (tmpBuffer[0]);
|
||||
|
||||
rxCount = 0;
|
||||
|
||||
// If there is a payload get it, otherwise receive checksum
|
||||
if (length > 0)
|
||||
state = STATE_DATA;
|
||||
else
|
||||
state = STATE_CS;
|
||||
|
||||
break;
|
||||
|
||||
case STATE_DATA:
|
||||
|
||||
|
||||
// update the CRC
|
||||
cs = updateCRCbyte(cs, rxbyte);
|
||||
|
||||
|
||||
rxBuffer[rxCount++] = rxbyte;
|
||||
if (rxCount < length)
|
||||
break;
|
||||
|
||||
state = STATE_CS;
|
||||
rxCount = 0;
|
||||
break;
|
||||
|
||||
|
||||
state = STATE_CS;
|
||||
rxCount = 0;
|
||||
break;
|
||||
|
||||
case STATE_CS:
|
||||
|
||||
|
||||
// the CRC byte
|
||||
csRx = rxbyte;
|
||||
|
||||
|
||||
if (csRx != cs)
|
||||
{ // packet error - faulty CRC
|
||||
stats.rxErrors++;
|
||||
state = STATE_SYNC;
|
||||
state = STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
if (rxPacketLength != (packet_size + 1))
|
||||
{ // packet error - mismatched packet size
|
||||
stats.rxErrors++;
|
||||
state = STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
receiveObject(type, obj, instId, rxBuffer, length);
|
||||
stats.rxObjectBytes += length;
|
||||
stats.rxObjects++;
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
|
||||
state = STATE_SYNC;
|
||||
break;
|
||||
|
||||
|
||||
if (rxPacketLength != (packet_size + 1))
|
||||
{ // packet error - mismatched packet size
|
||||
stats.rxErrors++;
|
||||
state = STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
receiveObject(type, obj, instId, rxBuffer, length);
|
||||
stats.rxObjectBytes += length;
|
||||
stats.rxObjects++;
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
|
||||
state = STATE_SYNC;
|
||||
break;
|
||||
|
||||
default:
|
||||
stats.rxErrors++;
|
||||
state = STATE_SYNC;
|
||||
}
|
||||
|
||||
// Done
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Done
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -460,65 +460,65 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
*/
|
||||
static int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length)
|
||||
{
|
||||
int32_t ret = 0;
|
||||
|
||||
// Process message type
|
||||
switch (type) {
|
||||
case TYPE_OBJ:
|
||||
// All instances, not allowed for OBJ messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
UAVObjUnpack(obj, instId, data);
|
||||
// Check if an ack is pending
|
||||
updateAck(obj, instId);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
case TYPE_OBJ_ACK:
|
||||
// All instances, not allowed for OBJ_ACK messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
if ( UAVObjUnpack(obj, instId, data) == 0 )
|
||||
{
|
||||
// Transmit ACK
|
||||
sendObject(obj, instId, TYPE_ACK);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
case TYPE_OBJ_REQ:
|
||||
// Send requested object if message is of type OBJ_REQ
|
||||
sendObject(obj, instId, TYPE_OBJ);
|
||||
break;
|
||||
case TYPE_ACK:
|
||||
// All instances, not allowed for ACK messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Check if an ack is pending
|
||||
updateAck(obj, instId);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
ret = -1;
|
||||
}
|
||||
// Done
|
||||
return ret;
|
||||
int32_t ret = 0;
|
||||
|
||||
// Process message type
|
||||
switch (type) {
|
||||
case TYPE_OBJ:
|
||||
// All instances, not allowed for OBJ messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
UAVObjUnpack(obj, instId, data);
|
||||
// Check if an ack is pending
|
||||
updateAck(obj, instId);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
case TYPE_OBJ_ACK:
|
||||
// All instances, not allowed for OBJ_ACK messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
if ( UAVObjUnpack(obj, instId, data) == 0 )
|
||||
{
|
||||
// Transmit ACK
|
||||
sendObject(obj, instId, TYPE_ACK);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
case TYPE_OBJ_REQ:
|
||||
// Send requested object if message is of type OBJ_REQ
|
||||
sendObject(obj, instId, TYPE_OBJ);
|
||||
break;
|
||||
case TYPE_ACK:
|
||||
// All instances, not allowed for ACK messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Check if an ack is pending
|
||||
updateAck(obj, instId);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
ret = -1;
|
||||
}
|
||||
// Done
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -526,11 +526,11 @@ static int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, ui
|
||||
*/
|
||||
static void updateAck(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
if (respObj == obj && (respInstId == instId || respInstId == UAVOBJ_ALL_INSTANCES))
|
||||
{
|
||||
xSemaphoreGive(respSema);
|
||||
respObj = 0;
|
||||
}
|
||||
if (respObj == obj && (respInstId == instId || respInstId == UAVOBJ_ALL_INSTANCES))
|
||||
{
|
||||
xSemaphoreGive(respSema);
|
||||
respObj = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -545,18 +545,18 @@ static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
|
||||
{
|
||||
uint32_t numInst;
|
||||
uint32_t n;
|
||||
|
||||
|
||||
// If all instances are requested and this is a single instance object, force instance ID to zero
|
||||
if ( instId == UAVOBJ_ALL_INSTANCES && UAVObjIsSingleInstance(obj) )
|
||||
{
|
||||
instId = 0;
|
||||
}
|
||||
|
||||
// Process message type
|
||||
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
|
||||
{
|
||||
if (instId == UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
|
||||
// Process message type
|
||||
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
|
||||
{
|
||||
if (instId == UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Get number of instances
|
||||
numInst = UAVObjGetNumInstances(obj);
|
||||
// Send all instances
|
||||
@ -565,31 +565,31 @@ static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
|
||||
sendSingleObject(obj, n, type);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return sendSingleObject(obj, instId, type);
|
||||
}
|
||||
}
|
||||
else if (type == TYPE_OBJ_REQ)
|
||||
{
|
||||
return sendSingleObject(obj, instId, TYPE_OBJ_REQ);
|
||||
}
|
||||
else if (type == TYPE_ACK)
|
||||
{
|
||||
if ( instId != UAVOBJ_ALL_INSTANCES )
|
||||
{
|
||||
return sendSingleObject(obj, instId, TYPE_ACK);
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return sendSingleObject(obj, instId, type);
|
||||
}
|
||||
}
|
||||
else if (type == TYPE_OBJ_REQ)
|
||||
{
|
||||
return sendSingleObject(obj, instId, TYPE_OBJ_REQ);
|
||||
}
|
||||
else if (type == TYPE_ACK)
|
||||
{
|
||||
if ( instId != UAVOBJ_ALL_INSTANCES )
|
||||
{
|
||||
return sendSingleObject(obj, instId, TYPE_ACK);
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -602,74 +602,74 @@ static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
|
||||
*/
|
||||
static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
|
||||
{
|
||||
int32_t length;
|
||||
int32_t dataOffset;
|
||||
uint32_t objId;
|
||||
|
||||
// Setup type and object id fields
|
||||
objId = UAVObjGetID(obj);
|
||||
txBuffer[0] = SYNC_VAL; // sync byte
|
||||
txBuffer[1] = type;
|
||||
int32_t length;
|
||||
int32_t dataOffset;
|
||||
uint32_t objId;
|
||||
|
||||
// Setup type and object id fields
|
||||
objId = UAVObjGetID(obj);
|
||||
txBuffer[0] = SYNC_VAL; // sync byte
|
||||
txBuffer[1] = type;
|
||||
// data length inserted here below
|
||||
txBuffer[4] = (uint8_t)(objId & 0xFF);
|
||||
txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF);
|
||||
txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF);
|
||||
txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF);
|
||||
|
||||
// Setup instance ID if one is required
|
||||
if (UAVObjIsSingleInstance(obj))
|
||||
{
|
||||
dataOffset = 8;
|
||||
}
|
||||
else
|
||||
{
|
||||
txBuffer[8] = (uint8_t)(instId & 0xFF);
|
||||
txBuffer[9] = (uint8_t)((instId >> 8) & 0xFF);
|
||||
dataOffset = 10;
|
||||
}
|
||||
|
||||
// Determine data length
|
||||
if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
|
||||
{
|
||||
length = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
txBuffer[4] = (uint8_t)(objId & 0xFF);
|
||||
txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF);
|
||||
txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF);
|
||||
txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF);
|
||||
|
||||
// Setup instance ID if one is required
|
||||
if (UAVObjIsSingleInstance(obj))
|
||||
{
|
||||
dataOffset = 8;
|
||||
}
|
||||
else
|
||||
{
|
||||
txBuffer[8] = (uint8_t)(instId & 0xFF);
|
||||
txBuffer[9] = (uint8_t)((instId >> 8) & 0xFF);
|
||||
dataOffset = 10;
|
||||
}
|
||||
|
||||
// Determine data length
|
||||
if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
|
||||
{
|
||||
length = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
length = UAVObjGetNumBytes(obj);
|
||||
}
|
||||
|
||||
// Check length
|
||||
if (length >= MAX_PAYLOAD_LENGTH)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Copy data (if any)
|
||||
if (length > 0)
|
||||
{
|
||||
if ( UAVObjPack(obj, instId, &txBuffer[dataOffset]) < 0 )
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// Store the packet length
|
||||
txBuffer[2] = (uint8_t)((dataOffset+length) & 0xFF);
|
||||
txBuffer[3] = (uint8_t)(((dataOffset+length) >> 8) & 0xFF);
|
||||
|
||||
// Calculate checksum
|
||||
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset+length);
|
||||
|
||||
// Send buffer
|
||||
if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+length+CHECKSUM_LENGTH);
|
||||
|
||||
// Update stats
|
||||
++stats.txObjects;
|
||||
stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
|
||||
stats.txObjectBytes += length;
|
||||
|
||||
// Done
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Check length
|
||||
if (length >= MAX_PAYLOAD_LENGTH)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Copy data (if any)
|
||||
if (length > 0)
|
||||
{
|
||||
if ( UAVObjPack(obj, instId, &txBuffer[dataOffset]) < 0 )
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// Store the packet length
|
||||
txBuffer[2] = (uint8_t)((dataOffset+length) & 0xFF);
|
||||
txBuffer[3] = (uint8_t)(((dataOffset+length) >> 8) & 0xFF);
|
||||
|
||||
// Calculate checksum
|
||||
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset+length);
|
||||
|
||||
// Send buffer
|
||||
if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+length+CHECKSUM_LENGTH);
|
||||
|
||||
// Update stats
|
||||
++stats.txObjects;
|
||||
stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
|
||||
stats.txObjectBytes += length;
|
||||
|
||||
// Done
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -700,11 +700,11 @@ static uint8_t updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
|
||||
register int32_t len = length;
|
||||
register uint8_t crc8 = crc;
|
||||
register const uint8_t *p = data;
|
||||
|
||||
while (len--)
|
||||
crc8 = crc_table[crc8 ^ *p++];
|
||||
|
||||
return crc8;
|
||||
|
||||
while (len--)
|
||||
crc8 = crc_table[crc8 ^ *p++];
|
||||
|
||||
return crc8;
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user