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px4-firmware
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Merge pull request #1232 from jean-m-cyr/master 

Improve update performance and clean compiler warnings in px4io driver
This commit is contained in:
Lorenz Meier 2014-07-29 02:26:34 -07:00
parent 1ab6eb2fb8 3a4da7c5fa
commit 577e75ab5a
3 changed files with 26 additions and 19 deletions
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6
src/drivers/px4io/px4io_serial.cpp
View File

@ -157,6 +157,10 @@ private:
perf_counter_t _pc_idle;
perf_counter_t _pc_badidle;
/* do not allow top copying this class */
PX4IO_serial(PX4IO_serial &);
PX4IO_serial& operator = (const PX4IO_serial &);
};
IOPacket PX4IO_serial::_dma_buffer;
@ -173,6 +177,8 @@ PX4IO_serial::PX4IO_serial() :
_tx_dma(nullptr),
_rx_dma(nullptr),
_rx_dma_status(_dma_status_inactive),
_bus_semaphore(SEM_INITIALIZER(0)),
_completion_semaphore(SEM_INITIALIZER(0)),
_pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")),
_pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")),
_pc_retries(perf_alloc(PC_COUNT, "io_retries ")),

29
src/drivers/px4io/px4io_uploader.cpp
View File

@ -65,7 +65,8 @@
PX4IO_Uploader::PX4IO_Uploader() :
_io_fd(-1),
_fw_fd(-1)
_fw_fd(-1),
bl_rev(0)
{
}
@ -245,7 +246,7 @@ PX4IO_Uploader::upload(const char *filenames[])
}
int
PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout)
{
struct pollfd fds[1];
@ -262,19 +263,19 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
return -ETIMEDOUT;
}
read(_io_fd, &c, 1);
read(_io_fd, c, 1);
#ifdef UDEBUG
log("recv 0x%02x", c);
log("recv_bytes 0x%02x", c);
#endif
return OK;
}
int
PX4IO_Uploader::recv(uint8_t *p, unsigned count)
PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count)
{
int ret;
int ret = OK;
while (count--) {
ret = recv(*p++, 5000);
ret = recv_byte_with_timeout(p++, 5000);
if (ret != OK)
break;
@ -289,10 +290,10 @@ PX4IO_Uploader::drain()
int ret;
do {
// the small recv timeout here is to allow for fast
// the small recv_bytes timeout here is to allow for fast
// drain when rebooting the io board for a forced
// update of the fw without using the safety switch
ret = recv(c, 40);
ret = recv_byte_with_timeout(&c, 40);
#ifdef UDEBUG
if (ret == OK) {
@ -331,12 +332,12 @@ PX4IO_Uploader::get_sync(unsigned timeout)
uint8_t c[2];
int ret;
ret = recv(c[0], timeout);
ret = recv_byte_with_timeout(c, timeout);
if (ret != OK)
return ret;
ret = recv(c[1], timeout);
ret = recv_byte_with_timeout(c + 1, timeout);
if (ret != OK)
return ret;
@ -372,7 +373,7 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
send(param);
send(PROTO_EOC);
ret = recv((uint8_t *)&val, sizeof(val));
ret = recv_bytes((uint8_t *)&val, sizeof(val));
if (ret != OK)
return ret;
@ -513,7 +514,7 @@ PX4IO_Uploader::verify_rev2(size_t fw_size)
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv(c, 5000);
ret = recv_byte_with_timeout(&c, 5000);
if (ret != OK) {
log("%d: got %d waiting for bytes", sent + i, ret);
@ -600,7 +601,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local)
send(PROTO_GET_CRC);
send(PROTO_EOC);
ret = recv((uint8_t*)(&crc), sizeof(crc));
ret = recv_bytes((uint8_t*)(&crc), sizeof(crc));
if (ret != OK) {
log("did not receive CRC checksum");

6
src/drivers/px4io/uploader.h
View File

@ -74,7 +74,7 @@ private:
INFO_BOARD_REV = 3, /**< board revision */
INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */
PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */
PROG_MULTI_MAX = 248, /**< protocol max is 255, must be multiple of 4 */
};
@ -85,8 +85,8 @@ private:
void log(const char *fmt, ...);
int recv(uint8_t &c, unsigned timeout);
int recv(uint8_t *p, unsigned count);
int recv_byte_with_timeout(uint8_t *c, unsigned timeout);
int recv_bytes(uint8_t *p, unsigned count);
void drain();
int send(uint8_t c);
int send(uint8_t *p, unsigned count);