forked from Archive/PX4-Autopilot
Move the common definitions for the PX4IO serial protocol into the shared header.
This commit is contained in:
px4dev
parent
19b2e1de85
commit
87a4f1507a
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@ -69,18 +69,6 @@
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#include "interface.h"
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#define PKT_MAX_REGS 32 // by agreement w/IO
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#pragma pack(push, 1)
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struct IOPacket {
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uint8_t count_code;
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uint8_t crc;
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uint8_t page;
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uint8_t offset;
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uint16_t regs[PKT_MAX_REGS];
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};
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#pragma pack(pop)
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/* serial register accessors */
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#define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + _x))
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#define rSR REG(STM32_USART_SR_OFFSET)
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@ -91,22 +79,6 @@ struct IOPacket {
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#define rCR3 REG(STM32_USART_CR3_OFFSET)
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#define rGTPR REG(STM32_USART_GTPR_OFFSET)
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#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
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#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
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#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
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#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
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#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
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#define PKT_CODE_MASK 0xc0
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#define PKT_COUNT_MASK 0x3f
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#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
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#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
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#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
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static uint8_t crc_packet(IOPacket &pkt);
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class PX4IO_serial : public PX4IO_interface
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{
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public:
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@ -496,7 +468,7 @@ PX4IO_serial::_wait_complete()
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/* start TX DMA - no callback if we also expect a reply */
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/* DMA setup time ~3µs */
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_dma_buffer.crc = 0;
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_dma_buffer.crc = crc_packet(_dma_buffer);
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_dma_buffer.crc = crc_packet(&_dma_buffer);
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stm32_dmasetup(
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_tx_dma,
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PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET,
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@ -543,7 +515,7 @@ PX4IO_serial::_wait_complete()
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/* check packet CRC - corrupt packet errors mean IO receive CRC error */
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uint8_t crc = _dma_buffer.crc;
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_dma_buffer.crc = 0;
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if ((crc != crc_packet(_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
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if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
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perf_count(_pc_crcerrs);
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ret = -1;
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errno = EIO;
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@ -683,52 +655,3 @@ PX4IO_serial::_abort_dma()
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stm32_dmastop(_tx_dma);
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stm32_dmastop(_rx_dma);
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}
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static const uint8_t crc8_tab[256] =
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{
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0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
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0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
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0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
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0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
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0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
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0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
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0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
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0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
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0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
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0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
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0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
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0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
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0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
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0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
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0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
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0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
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0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
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0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
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0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
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0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
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0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
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0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
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0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
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0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
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0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
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0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
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0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
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0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
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0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
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0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
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0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
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0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
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};
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static uint8_t
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crc_packet(IOPacket &pkt)
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{
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uint8_t *end = (uint8_t *)(&pkt.regs[PKT_COUNT(pkt)]);
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uint8_t *p = (uint8_t *)&pkt;
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uint8_t c = 0;
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while (p < end)
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c = crc8_tab[c ^ *(p++)];
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return c;
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}
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@ -206,3 +206,81 @@ struct px4io_mixdata {
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};
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#pragma pack(pop)
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/**
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* Serial protocol encapsulation.
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*/
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#define PKT_MAX_REGS 32 // by agreement w/FMU
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#pragma pack(push, 1)
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struct IOPacket {
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uint8_t count_code;
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uint8_t crc;
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uint8_t page;
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uint8_t offset;
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uint16_t regs[PKT_MAX_REGS];
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};
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#pragma pack(pop)
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#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
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#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
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#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
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#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
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#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
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#define PKT_CODE_MASK 0xc0
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#define PKT_COUNT_MASK 0x3f
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#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
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#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
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#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
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static const uint8_t crc8_tab[256] __attribute__((unused)) =
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{
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0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
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0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
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0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
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0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
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0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
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0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
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0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
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0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
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0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
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0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
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0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
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0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
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0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
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0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
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0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
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0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
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0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
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0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
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0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
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0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
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0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
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0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
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0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
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0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
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0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
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0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
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0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
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0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
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0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
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0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
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0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
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0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
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};
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static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused));
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static uint8_t
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crc_packet(struct IOPacket *pkt)
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{
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uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]);
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uint8_t *p = (uint8_t *)pkt;
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uint8_t c = 0;
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while (p < end)
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c = crc8_tab[c ^ *(p++)];
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return c;
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}
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@ -77,33 +77,6 @@ static void dma_reset(void);
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/* if we spend this many ticks idle, reset the DMA */
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static unsigned idle_ticks;
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#define PKT_MAX_REGS 32 // by agreement w/FMU
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#pragma pack(push, 1)
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struct IOPacket {
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uint8_t count_code;
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uint8_t crc;
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uint8_t page;
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uint8_t offset;
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uint16_t regs[PKT_MAX_REGS];
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};
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#pragma pack(pop)
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#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
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#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
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#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
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#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
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#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
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#define PKT_CODE_MASK 0xc0
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#define PKT_COUNT_MASK 0x3f
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#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
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#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
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#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
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static uint8_t crc_packet(void);
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static struct IOPacket dma_packet;
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/* serial register accessors */
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@ -193,7 +166,7 @@ rx_handle_packet(void)
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/* check packet CRC */
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uint8_t crc = dma_packet.crc;
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dma_packet.crc = 0;
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if (crc != crc_packet()) {
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if (crc != crc_packet(&dma_packet)) {
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perf_count(pc_crcerr);
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/* send a CRC error reply */
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@ -264,7 +237,7 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
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/* send the reply to the previous request */
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dma_packet.crc = 0;
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dma_packet.crc = crc_packet();
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dma_packet.crc = crc_packet(&dma_packet);
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stm32_dmasetup(
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tx_dma,
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(uint32_t)&rDR,
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@ -354,51 +327,3 @@ dma_reset(void)
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rCR3 |= USART_CR3_DMAR;
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}
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static const uint8_t crc8_tab[256] =
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{
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0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
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0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
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0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
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0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
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0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
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0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
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0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
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0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
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0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
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0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
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0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
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0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
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0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
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0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
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0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
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0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
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0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
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0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
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0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
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0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
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0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
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0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
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0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
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0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
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0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
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0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
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0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
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0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
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0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
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0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
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0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
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0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
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};
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static uint8_t
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crc_packet()
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{
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uint8_t *end = (uint8_t *)(&dma_packet.regs[PKT_COUNT(dma_packet)]);
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uint8_t *p = (uint8_t *)&dma_packet;
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uint8_t c = 0;
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while (p < end)
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c = crc8_tab[c ^ *(p++)];
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return c;
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}
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