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Code Issues Releases Activity

OP-1122 OP-1158 added facility to update a CRC with uavobject data (flight side)

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This commit is contained in:
Philippe Renon 2014-01-12 15:12:41 +01:00
parent d8d9adb1fd
commit c8a81f88a4
3 changed files with 56 additions and 20 deletions
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22
flight/pios/common/pios_crc.c
View File

@ -64,6 +64,17 @@ static const uint16_t CRC_Table16[] = { // HDLC polynomial
0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
};
/**
* 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
*/
static const uint32_t CRC_Table32[] = {
0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005,
0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd,
@ -101,17 +112,6 @@ static const uint32_t CRC_Table32[] = {
/**
* 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.

1
flight/uavobjects/inc/uavobjectmanager.h
View File

@ -160,6 +160,7 @@ bool UAVObjIsMetaobject(UAVObjHandle obj);
bool UAVObjIsSettings(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);

53
flight/uavobjects/uavobjectmanager.c
View File

@ -171,17 +171,14 @@ struct UAVOMulti {
/** all information about instances are dependant on object type **/
#define ObjSingleInstanceDataOffset(obj) ((void *)(&(((struct UAVOSingle *)obj)->instance0)))
#define InstanceDataOffset(inst) ((void *)&(((struct UAVOMultiInst *)inst)->instance))
#define InstanceData(instance) (void *)instance
#define InstanceData(instance) ((void *)instance)
// Private functions
static int32_t sendEvent(struct UAVOBase *obj, uint16_t instId,
UAVObjEventType event);
static int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType event);
static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId);
static InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb);
static void instanceAutoUpdated(UAVObjHandle obj_handle, uint16_t instId);
// Private variables
@ -615,8 +612,7 @@ bool UAVObjIsSettings(UAVObjHandle obj_handle)
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId,
const uint8_t *dataIn)
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn)
{
PIOS_Assert(obj_handle);
@ -704,6 +700,45 @@ unlock_exit:
return rc;
}
/**
* Update a CRC with an object data
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[in] crc The crc to update
* \return the updated crc
*/
uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
// TODO
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast handle to object
obj = (struct UAVOData *)obj_handle;
// Get the instance
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Update crc
crc = PIOS_CRC_updateCRC(crc, (uint8_t *) InstanceData(instEntry), (int32_t) obj->instance_size);
}
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return crc;
}
/**
* Actually write the object's data to the logfile