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Fix the handling of max transfer size to leave room for the page/offset bytes.

This commit is contained in:
px4dev 2013-01-25 21:54:04 -08:00
parent 1b30cd2f93
commit 818e898a7e
1 changed files with 9 additions and 5 deletions
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14
apps/drivers/px4io/px4io.cpp
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@ -270,8 +270,6 @@ PX4IO::PX4IO() :
_to_actuators_effective(0), _to_actuators_effective(0),
_to_outputs(0), _to_outputs(0),
_to_battery(0), _to_battery(0),
_mix_buf(nullptr),
_mix_buf_len(0),
_primary_pwm_device(false) _primary_pwm_device(false)
{ {
/* we need this potentially before it could be set in task_main */ /* we need this potentially before it could be set in task_main */
@ -315,7 +313,7 @@ PX4IO::init()
/* get some parameters */ /* get some parameters */
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT); _max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT); _max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER); _max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT); _max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
if ((_max_actuators < 1) || (_max_actuators > 255) || if ((_max_actuators < 1) || (_max_actuators > 255) ||
(_max_relays < 1) || (_max_relays > 255) || (_max_relays < 1) || (_max_relays > 255) ||
@ -816,9 +814,9 @@ PX4IO::io_publish_pwm_outputs()
int int
PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{ {
uint8_t buf[_max_transfer]; uint8_t buf[_max_transfer + 2];
if (num_values > ((_max_transfer - 2) / sizeof(*values))) if (num_values > ((_max_transfer) / sizeof(*values)))
return -EINVAL; return -EINVAL;
unsigned datalen = num_values * sizeof(*values); unsigned datalen = num_values * sizeof(*values);
@ -928,16 +926,22 @@ PX4IO::mixer_send(const char *buf, unsigned buflen)
if (ret) { if (ret) {
log("mixer send error %d", ret); log("mixer send error %d", ret);
return ret; return ret;
} else {
debug("mixer sent %u", total_len);
} }
msg->action = F2I_MIXER_ACTION_APPEND; msg->action = F2I_MIXER_ACTION_APPEND;
} while (buflen > 0); } while (buflen > 0);
debug("mixer upload OK");
/* check for the mixer-OK flag */ /* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)
return 0; return 0;
debug("mixer rejected");
/* load must have failed for some reason */ /* load must have failed for some reason */
return -EINVAL; return -EINVAL;
} }