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AP_IOMCU: use more bandwidth efficient IO read

This commit is contained in:
Andrew Tridgell 2018-10-31 11:24:51 +11:00
parent d5c29fc57e
commit ec73a7072b
3 changed files with 22 additions and 4 deletions
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10
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -360,14 +360,20 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
pkt.page = page;
pkt.offset = offset;
pkt.crc = 0;
uint8_t pkt_size = pkt.get_size();
if (config.protocol_version == IOMCU_PROTOCOL_VERSION) {
// save bandwidth on reads
pkt_size = 4;
}
/*
the protocol is a bit strange, as it unnecessarily sends the
same size packet that it expects to receive. This means reading
a large number of registers wastes a lot of serial bandwidth
*/
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt.get_size());
if (uart.write((uint8_t *)&pkt, pkt.get_size()) != pkt.get_size()) {
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt_size);
if (uart.write((uint8_t *)&pkt, pkt_size) != pkt_size) {
protocol_fail_count++;
return false;
}

14
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -156,6 +156,8 @@ void loop(void)
void AP_IOMCU_FW::init()
{
config.protocol_version = IOMCU_PROTOCOL_VERSION;
thread_ctx = chThdGetSelfX();
if (palReadLine(HAL_GPIO_PIN_IO_HW_DETECT1) == 1 && palReadLine(HAL_GPIO_PIN_IO_HW_DETECT2) == 0) {
@ -261,8 +263,18 @@ void AP_IOMCU_FW::rcin_update()
void AP_IOMCU_FW::process_io_packet()
{
uint8_t rx_crc = rx_io_packet.crc;
uint8_t calc_crc;
rx_io_packet.crc = 0;
uint8_t calc_crc = crc_crc8((const uint8_t *)&rx_io_packet, rx_io_packet.get_size());
uint8_t pkt_size = rx_io_packet.get_size();
if (rx_io_packet.code == CODE_READ) {
// allow for more bandwidth efficient read packets
calc_crc = crc_crc8((const uint8_t *)&rx_io_packet, 4);
if (calc_crc != rx_crc) {
calc_crc = crc_crc8((const uint8_t *)&rx_io_packet, pkt_size);
}
} else {
calc_crc = crc_crc8((const uint8_t *)&rx_io_packet, pkt_size);
}
if (rx_crc != calc_crc) {
memset(&tx_io_packet, 0xFF, sizeof(tx_io_packet));
tx_io_packet.count = 0;

2
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -90,7 +90,7 @@ enum iopage {
#define FORCE_SAFETY_MAGIC 22027
struct PACKED page_config {
uint16_t protocol_version = IOMCU_PROTOCOL_VERSION;
uint16_t protocol_version;
};
struct PACKED page_reg_status {