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AP_HAL_Linux: RPIOUARTDriver: remove dma mention

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There's no dma going on here, it's just a normal SPI transfer.
This commit is contained in:
Lucas De Marchi 2016-10-27 08:06:34 -02:00
parent d3b5089a12
commit 473add51f7
1 changed files with 24 additions and 24 deletions
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48
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
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@ -122,16 +122,16 @@ void RPIOUARTDriver::_timer_tick(void)
return;
}
struct IOPacket _dma_packet_tx = {0}, _dma_packet_rx = {0};
struct IOPacket _packet_tx = {0}, _packet_rx = {0};
_dma_packet_tx.count_code = 2 | PKT_CODE_WRITE;
_dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_dma_packet_tx.regs[0] = _baudrate & 0xffff;
_dma_packet_tx.regs[1] = _baudrate >> 16;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_packet_tx.count_code = 2 | PKT_CODE_WRITE;
_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_packet_tx.regs[0] = _baudrate & 0xffff;
_packet_tx.regs[1] = _baudrate >> 16;
_packet_tx.crc = crc_packet(&_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
_dev->transfer((uint8_t *)&_packet_tx, sizeof(_packet_tx),
(uint8_t *)&_packet_rx, sizeof(_packet_rx));
hal.scheduler->delay(1);
@ -156,44 +156,44 @@ void RPIOUARTDriver::_timer_tick(void)
return;
}
struct IOPacket _dma_packet_tx = {0}, _dma_packet_rx = {0};
struct IOPacket _packet_tx = {0}, _packet_rx = {0};
/* get write_buf bytes */
uint32_t max_size = MIN(PKT_MAX_REGS * 2,
_baudrate / 10 / (1000000 / RPIOUART_POLL_TIME_INTERVAL));
uint32_t n = MIN(_writebuf.available(), max_size);
_writebuf.read(&((uint8_t *)_dma_packet_tx.regs)[0], n);
_dma_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART;
_dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_dma_packet_tx.offset = n;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_writebuf.read(&((uint8_t *)_packet_tx.regs)[0], n);
_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART;
_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_packet_tx.offset = n;
_packet_tx.crc = crc_packet(&_packet_tx);
/* end get write_buf bytes */
/* set raspilotio to read uart data */
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
_dev->transfer((uint8_t *)&_packet_tx, sizeof(_packet_tx),
(uint8_t *)&_packet_rx, sizeof(_packet_rx));
hal.scheduler->delay_microseconds(100);
/* get uart data from raspilotio */
memset(&_dma_packet_tx, 0, sizeof(_dma_packet_tx));
_dma_packet_tx.count_code = PKT_CODE_READ;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
memset(&_packet_tx, 0, sizeof(_packet_tx));
_packet_tx.count_code = PKT_CODE_READ;
_packet_tx.crc = crc_packet(&_packet_tx);
_dev->transfer((uint8_t *)&_packet_tx, sizeof(_packet_tx),
(uint8_t *)&_packet_rx, sizeof(_packet_rx));
hal.scheduler->delay_microseconds(100);
/* release sem */
_dev->get_semaphore()->give();
if (_dma_packet_rx.page == PX4IO_PAGE_UART_BUFFER) {
if (_packet_rx.page == PX4IO_PAGE_UART_BUFFER) {
/* add bytes to read buf */
max_size = MIN(_dma_packet_rx.offset, PKT_MAX_REGS * 2);
max_size = MIN(_packet_rx.offset, PKT_MAX_REGS * 2);
n = MIN(_readbuf.space(), max_size);
_readbuf.write(&((uint8_t *)_dma_packet_rx.regs)[0], n);
_readbuf.write(&((uint8_t *)_packet_rx.regs)[0], n);
}
_in_timer = false;