mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Merge branch 'bugfix-flight'
This commit is contained in:
James Cotton
commit
b011dcd035
@ -198,6 +198,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
|
||||
|
||||
## PIOS Hardware (Common)
|
||||
SRC += $(PIOSCOMMON)/pios_crc.c
|
||||
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
|
||||
SRC += $(PIOSCOMMON)/pios_flash_w25x.c
|
||||
SRC += $(PIOSCOMMON)/pios_adxl345.c
|
||||
|
||||
@ -186,6 +186,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
|
||||
|
||||
## PIOS Hardware (Common)
|
||||
SRC += $(PIOSCOMMON)/pios_crc.c
|
||||
SRC += $(PIOSCOMMON)/pios_sdcard.c
|
||||
SRC += $(PIOSCOMMON)/pios_com.c
|
||||
SRC += $(PIOSCOMMON)/pios_bmp085.c
|
||||
|
||||
74
flight/PiOS/Common/pios_crc.c
Normal file
74
flight/PiOS/Common/pios_crc.c
Normal file
@ -0,0 +1,74 @@
|
||||
/*
|
||||
* pios_crc.c
|
||||
* OpenPilotOSX
|
||||
*
|
||||
* Created by James Cotton on 6/4/11.
|
||||
* Copyright 2011 OpenPilot. All rights reserved.
|
||||
*
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||||
*/
|
||||
|
||||
#include "pios.h"
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||||
|
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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,
|
||||
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
|
||||
};
|
||||
|
||||
/**
|
||||
* Update the crc value with new data.
|
||||
*
|
||||
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
|
||||
* using the configuration:
|
||||
* Width = 8
|
||||
* Poly = 0x07
|
||||
* XorIn = 0x00
|
||||
* ReflectIn = False
|
||||
* XorOut = 0x00
|
||||
* ReflectOut = False
|
||||
* Algorithm = table-driven
|
||||
*
|
||||
* \param crc The current crc value.
|
||||
* \param data Pointer to a buffer of \a data_len bytes.
|
||||
* \param length Number of bytes in the \a data buffer.
|
||||
* \return The updated crc value.
|
||||
*/
|
||||
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data)
|
||||
{
|
||||
return crc_table[crc ^ data];
|
||||
}
|
||||
|
||||
/*
|
||||
* @brief Update a CRC with a data buffer
|
||||
* @param[in] crc Starting CRC value
|
||||
* @param[in] data Data buffer
|
||||
* @param[in] length Number of bytes to process
|
||||
* @returns Updated CRC
|
||||
*/
|
||||
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
|
||||
{
|
||||
// use registers for speed
|
||||
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;
|
||||
}
|
||||
|
||||
@ -56,7 +56,7 @@ struct fileHeader {
|
||||
} __attribute__((packed));
|
||||
|
||||
|
||||
#define OBJECT_TABLE_MAGIC 0x85FB3C33
|
||||
#define OBJECT_TABLE_MAGIC 0x85FB3C34
|
||||
#define OBJ_MAGIC 0x3015AE71
|
||||
#define OBJECT_TABLE_START 0x00000010
|
||||
#define OBJECT_TABLE_END 0x00001000
|
||||
@ -194,6 +194,7 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
|
||||
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
|
||||
{
|
||||
uint32_t objId = UAVObjGetID(obj);
|
||||
uint8_t crc = 0;
|
||||
|
||||
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
|
||||
|
||||
@ -216,14 +217,23 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
|
||||
|
||||
// Save header
|
||||
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
|
||||
|
||||
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
|
||||
return -3;
|
||||
|
||||
// Update CRC
|
||||
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
|
||||
|
||||
// Save data
|
||||
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
|
||||
return -4;
|
||||
|
||||
// Update CRC
|
||||
crc = PIOS_CRC_updateCRC(crc, (uint8_t *) data, UAVObjGetNumBytes(obj));
|
||||
|
||||
// Save CRC (written so will work when CRC changes to uint16)
|
||||
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0)
|
||||
return -4;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -236,12 +246,19 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
|
||||
* @retval -2 if unable to retrieve object header
|
||||
* @retval -3 if loaded data instId or objId don't match
|
||||
* @retval -4 if unable to retrieve instance data
|
||||
* @retval -5 if unable to read CRC
|
||||
* @retval -6 if CRC doesn't match
|
||||
* @note This uses one sector on the flash chip per object so that no buffering in ram
|
||||
* must be done when erasing the sector before a save
|
||||
*/
|
||||
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
|
||||
{
|
||||
uint32_t objId = UAVObjGetID(obj);
|
||||
uint16_t objSize = UAVObjGetNumBytes(obj);
|
||||
uint8_t crc = 0;
|
||||
uint8_t crcFlash = 0;
|
||||
const uint8_t crc_read_step = 8;
|
||||
uint8_t crc_read_buffer[crc_read_step];
|
||||
|
||||
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
|
||||
|
||||
@ -256,11 +273,29 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
|
||||
if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
|
||||
return -2;
|
||||
|
||||
// Update CRC
|
||||
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
|
||||
|
||||
if((header.id != objId) || (header.instId != instId))
|
||||
return -3;
|
||||
|
||||
// To avoid having to allocate the RAM for a copy of the object, we read by chunks
|
||||
// and compute the CRC
|
||||
for(uint32_t i = 0; i < objSize; i += crc_read_step) {
|
||||
PIOS_Flash_W25X_ReadData(addr + sizeof(header) + i, crc_read_buffer, crc_read_step);
|
||||
uint8_t valid_bytes = ((i + crc_read_step) >= objSize) ? objSize - i : crc_read_step;
|
||||
crc = PIOS_CRC_updateCRC(crc, crc_read_buffer, valid_bytes);
|
||||
}
|
||||
|
||||
// Read CRC (written so will work when CRC changes to uint16)
|
||||
if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0)
|
||||
return -5;
|
||||
|
||||
if(crc != crcFlash)
|
||||
return -6;
|
||||
|
||||
// Read the instance data
|
||||
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
|
||||
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, objSize) != 0)
|
||||
return -4;
|
||||
|
||||
return 0;
|
||||
|
||||
31
flight/PiOS/inc/pios_crc.h
Normal file
31
flight/PiOS/inc/pios_crc.h
Normal file
@ -0,0 +1,31 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_CRC CRC Functions
|
||||
* @{
|
||||
*
|
||||
* @file pios_crc.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief CRC functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
|
||||
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
|
||||
@ -132,6 +132,8 @@
|
||||
#include <usb_lib.h>
|
||||
#endif
|
||||
|
||||
#include <pios_crc.h>
|
||||
|
||||
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
|
||||
|
||||
#endif /* PIOS_H */
|
||||
|
||||
@ -2736,6 +2736,8 @@
|
||||
65E6E06112E031E300058553 /* STM32103CB_CC_Rev1.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_CC_Rev1.h; sourceTree = "<group>"; };
|
||||
65E6E06212E031E300058553 /* STM32103CB_PIPXTREME_Rev1.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_PIPXTREME_Rev1.h; sourceTree = "<group>"; };
|
||||
65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; };
|
||||
65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
|
||||
65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
|
||||
65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
|
||||
65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
|
||||
65E8EF5C11EEA61E00BBF654 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = alarms.c; path = ../../OpenPilot/System/alarms.c; sourceTree = SOURCE_ROOT; };
|
||||
@ -7660,6 +7662,7 @@
|
||||
6528CCB412E406B800CF5144 /* pios_adxl345.c */,
|
||||
6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
|
||||
65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
|
||||
65E8C743139A6D0900E1F979 /* pios_crc.c */,
|
||||
);
|
||||
name = Common;
|
||||
path = ../../PiOS/Common;
|
||||
@ -7669,13 +7672,7 @@
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
|
||||
6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
|
||||
6526645B122DF972006F9A3C /* pios_wdg.h */,
|
||||
651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */,
|
||||
651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */,
|
||||
651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */,
|
||||
651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */,
|
||||
651CF9F3120B700D00EEFD70 /* usb_conf.h */,
|
||||
65E8C745139A6D1A00E1F979 /* pios_crc.h */,
|
||||
65E8F03A11EFF25C00BBF654 /* pios_adc.h */,
|
||||
65E6E09912E037C800058553 /* pios_adc_priv.h */,
|
||||
65E8F03B11EFF25C00BBF654 /* pios_bmp085.h */,
|
||||
@ -7684,6 +7681,7 @@
|
||||
65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
|
||||
65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
|
||||
65E8F04011EFF25C00BBF654 /* pios_exti.h */,
|
||||
6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
|
||||
65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
|
||||
65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
|
||||
65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
|
||||
@ -7709,6 +7707,12 @@
|
||||
65E8F05211EFF25C00BBF654 /* pios_usart_priv.h */,
|
||||
65E8F05311EFF25C00BBF654 /* pios_usb.h */,
|
||||
65E8F05511EFF25C00BBF654 /* pios_usb_hid.h */,
|
||||
651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */,
|
||||
651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */,
|
||||
651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */,
|
||||
651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */,
|
||||
6526645B122DF972006F9A3C /* pios_wdg.h */,
|
||||
651CF9F3120B700D00EEFD70 /* usb_conf.h */,
|
||||
65E8F05611EFF25C00BBF654 /* stm32f10x_conf.h */,
|
||||
);
|
||||
name = inc;
|
||||
|
||||
@ -705,24 +705,24 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
|
||||
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
|
||||
ObjectList *objEntry = (ObjectList *) obj;
|
||||
ObjectList *objEntry = (ObjectList *) obj;
|
||||
|
||||
if (objEntry == NULL)
|
||||
return -1;
|
||||
if (objEntry == NULL)
|
||||
return -1;
|
||||
|
||||
ObjectInstList *instEntry = getInstance(objEntry, instId);
|
||||
ObjectInstList *instEntry = getInstance(objEntry, instId);
|
||||
|
||||
if (instEntry == NULL)
|
||||
return -1;
|
||||
if (instEntry == NULL)
|
||||
return -1;
|
||||
|
||||
if (instEntry->data == NULL)
|
||||
return -1;
|
||||
if (instEntry->data == NULL)
|
||||
return -1;
|
||||
|
||||
// Fire event on success
|
||||
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
|
||||
sendEvent(objEntry, instId, EV_UNPACKED);
|
||||
else
|
||||
return -1;
|
||||
// Fire event on success
|
||||
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
|
||||
sendEvent(objEntry, instId, EV_UNPACKED);
|
||||
else
|
||||
return -1;
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_SDCARD)
|
||||
|
||||
@ -50,25 +50,6 @@
|
||||
|
||||
#define MAX_PACKET_LENGTH (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH)
|
||||
|
||||
// CRC lookup table
|
||||
static const uint8_t crc_table[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
|
||||
};
|
||||
|
||||
// Private types
|
||||
typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxState;
|
||||
@ -85,8 +66,6 @@ static uint8_t txBuffer[MAX_PACKET_LENGTH];
|
||||
static UAVTalkStats stats;
|
||||
|
||||
// Private functions
|
||||
static uint8_t updateCRCbyte(uint8_t crc, const uint8_t data);
|
||||
static uint8_t updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
|
||||
static int32_t objectTransaction(UAVObjHandle objectId, uint16_t instId, uint8_t type, int32_t timeout);
|
||||
static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
|
||||
static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
|
||||
@ -268,7 +247,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
break;
|
||||
|
||||
// Initialize and update the CRC
|
||||
cs = updateCRCbyte(0, rxbyte);
|
||||
cs = PIOS_CRC_updateByte(0, rxbyte);
|
||||
|
||||
rxPacketLength = 1;
|
||||
|
||||
@ -278,7 +257,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
case STATE_TYPE:
|
||||
|
||||
// update the CRC
|
||||
cs = updateCRCbyte(cs, rxbyte);
|
||||
cs = PIOS_CRC_updateByte(cs, rxbyte);
|
||||
|
||||
if ((rxbyte & TYPE_MASK) != TYPE_VER)
|
||||
{
|
||||
@ -297,7 +276,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
case STATE_SIZE:
|
||||
|
||||
// update the CRC
|
||||
cs = updateCRCbyte(cs, rxbyte);
|
||||
cs = PIOS_CRC_updateByte(cs, rxbyte);
|
||||
|
||||
if (rxCount == 0)
|
||||
{
|
||||
@ -322,7 +301,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
case STATE_OBJID:
|
||||
|
||||
// update the CRC
|
||||
cs = updateCRCbyte(cs, rxbyte);
|
||||
cs = PIOS_CRC_updateByte(cs, rxbyte);
|
||||
|
||||
objId += rxbyte << (8*(rxCount++));
|
||||
|
||||
@ -393,7 +372,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
case STATE_INSTID:
|
||||
|
||||
// update the CRC
|
||||
cs = updateCRCbyte(cs, rxbyte);
|
||||
cs = PIOS_CRC_updateByte(cs, rxbyte);
|
||||
|
||||
instId += rxbyte << (8*(rxCount++));
|
||||
|
||||
@ -413,7 +392,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
|
||||
case STATE_DATA:
|
||||
|
||||
// update the CRC
|
||||
cs = updateCRCbyte(cs, rxbyte);
|
||||
cs = PIOS_CRC_updateByte(cs, rxbyte);
|
||||
|
||||
rxBuffer[rxCount++] = rxbyte;
|
||||
if (rxCount < length)
|
||||
@ -681,7 +660,7 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
|
||||
txBuffer[3] = (uint8_t)(((dataOffset+length) >> 8) & 0xFF);
|
||||
|
||||
// Calculate checksum
|
||||
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset+length);
|
||||
txBuffer[dataOffset+length] = PIOS_CRC_updateCRC(0, txBuffer, dataOffset+length);
|
||||
|
||||
// Send buffer
|
||||
if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+length+CHECKSUM_LENGTH);
|
||||
@ -720,7 +699,7 @@ static int32_t sendNack(uint32_t objId)
|
||||
txBuffer[3] = (uint8_t)(((dataOffset) >> 8) & 0xFF);
|
||||
|
||||
// Calculate checksum
|
||||
txBuffer[dataOffset] = updateCRC(0, txBuffer, dataOffset);
|
||||
txBuffer[dataOffset] = PIOS_CRC_updateCRC(0, txBuffer, dataOffset);
|
||||
|
||||
// Send buffer
|
||||
if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+CHECKSUM_LENGTH);
|
||||
@ -732,42 +711,6 @@ static int32_t sendNack(uint32_t objId)
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Update the crc value with new data.
|
||||
*
|
||||
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
|
||||
* using the configuration:
|
||||
* Width = 8
|
||||
* Poly = 0x07
|
||||
* XorIn = 0x00
|
||||
* ReflectIn = False
|
||||
* XorOut = 0x00
|
||||
* ReflectOut = False
|
||||
* Algorithm = table-driven
|
||||
*
|
||||
* \param crc The current crc value.
|
||||
* \param data Pointer to a buffer of \a data_len bytes.
|
||||
* \param length Number of bytes in the \a data buffer.
|
||||
* \return The updated crc value.
|
||||
*/
|
||||
static uint8_t updateCRCbyte(uint8_t crc, const uint8_t data)
|
||||
{
|
||||
return crc_table[crc ^ data];
|
||||
}
|
||||
static uint8_t updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
|
||||
{
|
||||
// use registers for speed
|
||||
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;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -237,6 +237,7 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
|
||||
* Calculate the unique object ID based on the object information.
|
||||
* The ID will change if the object definition changes, this is intentional
|
||||
* and is used to avoid connecting objects with incompatible configurations.
|
||||
* The LSB is set to zero and is reserved for metadata
|
||||
*/
|
||||
void UAVObjectParser::calculateID(ObjectInfo* info)
|
||||
{
|
||||
@ -252,7 +253,7 @@ void UAVObjectParser::calculateID(ObjectInfo* info)
|
||||
hash = updateHash(info->fields[n]->type, hash);
|
||||
}
|
||||
// Done
|
||||
info->id = hash;
|
||||
info->id = hash & 0xFFFFFFFE;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -263,7 +264,7 @@ void UAVObjectParser::calculateID(ObjectInfo* info)
|
||||
*/
|
||||
quint32 UAVObjectParser::updateHash(quint32 value, quint32 hash)
|
||||
{
|
||||
return (hash ^ ((hash<<5) + (hash>>2) + value)) & 0xFFFFFFFE;
|
||||
return (hash ^ ((hash<<5) + (hash>>2) + value));
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user