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px4-firmware
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Merge branch 'master' of github.com:PX4/Firmware

This commit is contained in:
Lorenz Meier 2014-01-09 16:58:02 +01:00
parent a84d943a98 bc95bfc082
commit 6b8c3283a7
1 changed files with 71 additions and 45 deletions
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116
src/drivers/px4io/px4io.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,7 +35,7 @@
* @file px4io.cpp
* Driver for the PX4IO board.
*
* PX4IO is connected via I2C.
* PX4IO is connected via I2C or DMA enabled high-speed UART.
*/
#include <nuttx/config.h>
@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
if (ret)
return ret;
retries--;
log("mixer sent");
@ -2419,6 +2422,69 @@ detect(int argc, char *argv[])
}
}
void
checkcrc(int argc, char *argv[])
{
bool keep_running = false;
if (g_dev == nullptr) {
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
if (g_dev == nullptr)
errx(1, "driver alloc failed");
} else {
/* its already running, don't kill the driver */
keep_running = true;
}
/*
check IO CRC against CRC of a file
*/
if (argc < 2) {
printf("usage: px4io checkcrc filename\n");
exit(1);
}
int fd = open(argv[1], O_RDONLY);
if (fd == -1) {
printf("open of %s failed - %d\n", argv[1], errno);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
uint32_t nbytes = 0;
while (true) {
uint8_t buf[16];
int n = read(fd, buf, sizeof(buf));
if (n <= 0) break;
fw_crc = crc32part(buf, n, fw_crc);
nbytes += n;
}
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
if (!keep_running) {
delete g_dev;
g_dev = nullptr;
}
if (ret != OK) {
printf("check CRC failed - %d\n", ret);
exit(1);
}
printf("CRCs match\n");
exit(0);
}
void
bind(int argc, char *argv[])
{
@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "detect"))
detect(argc - 1, argv + 1);
if (!strcmp(argv[1], "checkcrc"))
checkcrc(argc - 1, argv + 1);
if (!strcmp(argv[1], "update")) {
if (g_dev != nullptr) {
@ -2798,49 +2867,6 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "checkcrc")) {
/*
check IO CRC against CRC of a file
*/
if (argc <= 2) {
printf("usage: px4io checkcrc filename\n");
exit(1);
}
if (g_dev == nullptr) {
printf("px4io is not started\n");
exit(1);
}
int fd = open(argv[2], O_RDONLY);
if (fd == -1) {
printf("open of %s failed - %d\n", argv[2], errno);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
uint32_t nbytes = 0;
while (true) {
uint8_t buf[16];
int n = read(fd, buf, sizeof(buf));
if (n <= 0) break;
fw_crc = crc32part(buf, n, fw_crc);
nbytes += n;
}
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
if (ret != OK) {
printf("check CRC failed - %d\n", ret);
exit(1);
}
printf("CRCs match\n");
exit(0);
}
if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit") ||