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[UPDATE] - Remove duplicate syslink code

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TheLegendaryJedi
2021-01-05 22:15:00 +00:00
committed by Lorenz Meier
parent 641665f2e9
commit dd9b0ded0f
13 changed files with 1 additions and 2580 deletions
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boards/bitcraze/crazyflie21/CMakeLists.txt
+1 -1
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@@ -31,4 +31,4 @@
# #
############################################################################ ############################################################################
add_subdirectory(syslink) add_subdirectory(../crazyflie syslink)
boards/bitcraze/crazyflie21/syslink/CMakeLists.txt
-47
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@@ -1,47 +0,0 @@
############################################################################
#
# Copyright (c) 2016 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
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__syslink
MAIN syslink
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
ringbuffer.cpp
syslink_main.cpp
syslink_bridge.cpp
syslink_memory.cpp
syslink.c
DEPENDS
battery
)
boards/bitcraze/crazyflie21/syslink/crtp.h
-77
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@@ -1,77 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#define CRTP_PORT_CONSOLE 0x00
#define CRTP_PORT_PARAM 0x02
#define CRTP_PORT_COMMANDER 0x03
#define CRTP_PORT_MEM 0x04
#define CRTP_PORT_LOG 0x05
#define CRTP_PORT_MAVLINK 0x08 // Non-standard port for transmitting mavlink messages
#define CRTP_PORT_PLATFORM 0x0D
#define CRTP_PORT_DEBUG 0x0E
#define CRTP_PORT_LINK 0x0F
#define CRTP_NULL(x) (((x).header & 0xf3) == 0xf3)
// 1 byte header + 31 bytes data = 32 (max ESB packet size)
// With the NRF51, this could be increased to ~250, but the Crazyradio PA uses a NRF24 which can't do this
#define CRTP_MAX_DATA_SIZE 31
typedef struct {
uint8_t size; // Total size of this message, including the header (placed here to overlap with syslink length field)
union {
uint8_t header;
struct {
uint8_t channel : 2;
uint8_t link : 2;
uint8_t port : 4;
};
};
uint8_t data[CRTP_MAX_DATA_SIZE];
} __attribute__((packed)) crtp_message_t;
typedef struct {
float roll; // -20 to 20
float pitch;
float yaw; // -150 to 150
uint16_t thrust;
} crtp_commander;
boards/bitcraze/crazyflie21/syslink/drv_deck.h
-79
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@@ -1,79 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* Definitions for crazyflie related drivers */
#ifndef _DRV_CRAZYFLIE_H
#define _DRV_CRAZYFLIE_H
#include <px4_platform_common/defines.h>
#include <stdint.h>
#include <sys/ioctl.h>
#define DECK_DEVICE_PATH "/dev/deck"
/* structure of the data stored in deck memory */
typedef struct {
uint8_t header; // Should be 0xEB
uint32_t pins;
uint8_t vendorId;
uint8_t productId;
uint8_t crc;
uint8_t data[104];
} __attribute__((packed)) deck_descriptor_t;
/*
* ioctl() definitions
*/
#define _DECKIOCBASE (0x4100)
#define _DECKIOC(_n) (_PX4_IOC(_DECKIOCBASE, _n))
/** get the number of connected deck memory devices */
#define DECKIOGNUM _DECKIOC(0)
/** set the index of the current deck memory being accessed */
#define DECKIOSNUM _DECKIOC(1)
#define DECKIOID _DECKIOC(2)
#endif
boards/bitcraze/crazyflie21/syslink/ringbuffer.cpp
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@@ -1,418 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013-2015 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ringbuffer.cpp
*
* A flexible ringbuffer class.
*/
#include "ringbuffer.h"
#include <string.h>
namespace ringbuffer
{
RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
_num_items(num_items),
_item_size(item_size),
_buf(new char[(_num_items + 1) * item_size]),
_head(_num_items),
_tail(_num_items)
{}
RingBuffer::~RingBuffer()
{
delete[] _buf;
}
unsigned
RingBuffer::_next(unsigned index)
{
return (0 == index) ? _num_items : (index - 1);
}
bool
RingBuffer::empty()
{
return _tail == _head;
}
bool
RingBuffer::full()
{
return _next(_head) == _tail;
}
unsigned
RingBuffer::size()
{
return (_buf != nullptr) ? _num_items : 0;
}
void
RingBuffer::flush()
{
while (!empty()) {
get(nullptr);
}
}
bool
RingBuffer::put(const void *val, size_t val_size)
{
unsigned next = _next(_head);
if (next != _tail) {
if ((val_size == 0) || (val_size > _item_size)) {
val_size = _item_size;
}
memcpy(&_buf[_head * _item_size], val, val_size);
_head = next;
return true;
} else {
return false;
}
}
bool
RingBuffer::put(int8_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint8_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(float val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(double val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::force(const void *val, size_t val_size)
{
bool overwrote = false;
for (;;) {
if (put(val, val_size)) {
break;
}
get(nullptr);
overwrote = true;
}
return overwrote;
}
bool
RingBuffer::force(int8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(float val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(double val)
{
return force(&val, sizeof(val));
}
// FIXME - clang crashes on this get() call
#ifdef __PX4_QURT
#define __PX4_SBCAP my_sync_bool_compare_and_swap
static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
{
if (*a == b) {
*a = c;
return true;
}
return false;
}
#else
#define __PX4_SBCAP __sync_bool_compare_and_swap
#endif
bool
RingBuffer::get(void *val, size_t val_size)
{
if (_tail != _head) {
unsigned candidate;
unsigned next;
if ((val_size == 0) || (val_size > _item_size)) {
val_size = _item_size;
}
do {
/* decide which element we think we're going to read */
candidate = _tail;
/* and what the corresponding next index will be */
next = _next(candidate);
/* go ahead and read from this index */
if (val != nullptr) {
memcpy(val, &_buf[candidate * _item_size], val_size);
}
/* if the tail pointer didn't change, we got our item */
} while (!__PX4_SBCAP(&_tail, candidate, next));
return true;
} else {
return false;
}
}
bool
RingBuffer::get(int8_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint8_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int16_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint16_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(float &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(double &val)
{
return get(&val, sizeof(val));
}
unsigned
RingBuffer::space()
{
unsigned tail, head;
/*
* Make a copy of the head/tail pointers in a fashion that
* may err on the side of under-estimating the free space
* in the buffer in the case that the buffer is being updated
* asynchronously with our check.
* If the head pointer changes (reducing space) while copying,
* re-try the copy.
*/
do {
head = _head;
tail = _tail;
} while (head != _head);
return (tail >= head) ? (_num_items - (tail - head)) : (head - tail - 1);
}
unsigned
RingBuffer::count()
{
/*
* Note that due to the conservative nature of space(), this may
* over-estimate the number of items in the buffer.
*/
return _num_items - space();
}
bool
RingBuffer::resize(unsigned new_size)
{
char *old_buffer;
char *new_buffer = new char [(new_size + 1) * _item_size];
if (new_buffer == nullptr) {
return false;
}
old_buffer = _buf;
_buf = new_buffer;
_num_items = new_size;
_head = new_size;
_tail = new_size;
delete[] old_buffer;
return true;
}
void
RingBuffer::print_info(const char *name)
{
printf("%s %u/%lu (%u/%u @ %p)\n",
name,
_num_items,
(unsigned long)_num_items * _item_size,
_head,
_tail,
_buf);
}
} // namespace ringbuffer
boards/bitcraze/crazyflie21/syslink/ringbuffer.h
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@@ -1,179 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013-2015 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ringbuffer.h
*
* A flexible ringbuffer class.
*/
#pragma once
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>
namespace ringbuffer __EXPORT
{
class RingBuffer
{
public:
RingBuffer(unsigned num_items, size_t item_size);
virtual ~RingBuffer();
/**
* Put an item into the buffer.
*
* @param val Item to put
* @return true if the item was put, false if the buffer is full
*/
bool put(const void *val, size_t val_size = 0);
bool put(int8_t val);
bool put(uint8_t val);
bool put(int16_t val);
bool put(uint16_t val);
bool put(int32_t val);
bool put(uint32_t val);
bool put(int64_t val);
bool put(uint64_t val);
bool put(float val);
bool put(double val);
/**
* Force an item into the buffer, discarding an older item if there is not space.
*
* @param val Item to put
* @return true if an item was discarded to make space
*/
bool force(const void *val, size_t val_size = 0);
bool force(int8_t val);
bool force(uint8_t val);
bool force(int16_t val);
bool force(uint16_t val);
bool force(int32_t val);
bool force(uint32_t val);
bool force(int64_t val);
bool force(uint64_t val);
bool force(float val);
bool force(double val);
/**
* Get an item from the buffer.
*
* @param val Item that was gotten
* @return true if an item was got, false if the buffer was empty.
*/
bool get(void *val, size_t val_size = 0);
bool get(int8_t &val);
bool get(uint8_t &val);
bool get(int16_t &val);
bool get(uint16_t &val);
bool get(int32_t &val);
bool get(uint32_t &val);
bool get(int64_t &val);
bool get(uint64_t &val);
bool get(float &val);
bool get(double &val);
/*
* Get the number of slots free in the buffer.
*
* @return The number of items that can be put into the buffer before
* it becomes full.
*/
unsigned space(void);
/*
* Get the number of items in the buffer.
*
* @return The number of items that can be got from the buffer before
* it becomes empty.
*/
unsigned count(void);
/*
* Returns true if the buffer is empty.
*/
bool empty();
/*
* Returns true if the buffer is full.
*/
bool full();
/*
* Returns the capacity of the buffer, or zero if the buffer could
* not be allocated.
*/
unsigned size();
/*
* Empties the buffer.
*/
void flush();
/*
* resize the buffer. This is unsafe to be called while
* a producer or consuming is running. Caller is responsible
* for any locking needed
*
* @param new_size new size for buffer
* @return true if the resize succeeds, false if
* not (allocation error)
*/
bool resize(unsigned new_size);
/*
* printf() some info on the buffer
*/
void print_info(const char *name);
private:
unsigned _num_items;
const size_t _item_size;
char *_buf;
volatile unsigned _head; /**< insertion point in _item_size units */
volatile unsigned _tail; /**< removal point in _item_size units */
unsigned _next(unsigned index);
/* we don't want this class to be copied */
RingBuffer(const RingBuffer &);
RingBuffer operator=(const RingBuffer &);
};
} // namespace ringbuffer
boards/bitcraze/crazyflie21/syslink/syslink.c
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@@ -1,153 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file syslink.c
*
* Crazyflie Syslink protocol implementation
*
* @author Dennis Shtatnov <densht@gmail.com>
*/
#include <px4_platform_common/defines.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <systemlib/err.h>
#include <poll.h>
#include <termios.h>
#include "syslink.h"
const char *syslink_magic = "\xbc\xcf";
void syslink_parse_init(syslink_parse_state *state)
{
state->state = SYSLINK_STATE_START;
state->index = 0;
}
int syslink_parse_char(syslink_parse_state *state, char c, syslink_message_t *msg)
{
switch (state->state) {
case SYSLINK_STATE_START:
if (c == syslink_magic[state->index]) {
state->index++;
} else {
state->index = 0;
}
if (syslink_magic[state->index] == '\x00') {
state->state = SYSLINK_STATE_TYPE;
}
break;
case SYSLINK_STATE_TYPE:
msg->type = c;
state->state = SYSLINK_STATE_LENGTH;
break;
case SYSLINK_STATE_LENGTH:
msg->length = c;
if (c > SYSLINK_MAX_DATA_LEN) { // Too long
state->state = SYSLINK_STATE_START;
} else {
state->state = c > 0 ? SYSLINK_STATE_DATA : SYSLINK_STATE_CKSUM;
}
state->index = 0;
break;
case SYSLINK_STATE_DATA:
msg->data[state->index++] = c;
if (state->index >= msg->length) {
state->state = SYSLINK_STATE_CKSUM;
state->index = 0;
syslink_compute_cksum(msg);
}
break;
case SYSLINK_STATE_CKSUM:
if (c != msg->cksum[state->index]) {
PX4_INFO("Bad checksum");
state->state = SYSLINK_STATE_START;
state->index = 0;
break;
}
state->index++;
if (state->index >= (int)sizeof(msg->cksum)) {
state->state = SYSLINK_STATE_START;
state->index = 0;
return 1;
}
break;
}
return 0;
}
/*
Computes Fletcher 8bit checksum per RFC1146
A := A + D[i]
B := B + A
*/
void syslink_compute_cksum(syslink_message_t *msg)
{
uint8_t a = 0, b = 0;
uint8_t *Di = (uint8_t *)msg, *end = Di + (2 + msg->length) * sizeof(uint8_t);
while (Di < end) {
a = a + *Di;
b = b + a;
++Di;
}
msg->cksum[0] = a;
msg->cksum[1] = b;
}
boards/bitcraze/crazyflie21/syslink/syslink.h
-141
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@@ -1,141 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
extern const char *syslink_magic;
#define SYSLINK_GROUP 0xF0
#define SYSLINK_RADIO 0x00
#define SYSLINK_RADIO_RAW 0x00
#define SYSLINK_RADIO_CHANNEL 0x01
#define SYSLINK_RADIO_DATARATE 0x02
#define SYSLINK_RADIO_CONTWAVE 0x03
#define SYSLINK_RADIO_RSSI 0x04
#define SYSLINK_RADIO_ADDRESS 0x05
#define SYSLINK_PM 0x10
#define SYSLINK_PM_SOURCE 0x10
#define SYSLINK_PM_ONOFF_SWITCHOFF 0x11
#define SYSLINK_PM_BATTERY_VOLTAGE 0x12
#define SYSLINK_PM_BATTERY_STATE 0x13
#define SYSLINK_PM_BATTERY_AUTOUPDATE 0x14
#define SYSLINK_OW 0x20
#define SYSLINK_OW_SCAN 0x20
#define SYSLINK_OW_GETINFO 0x21
#define SYSLINK_OW_READ 0x22
#define SYSLINK_OW_WRITE 0x23
// Limited by the CRTP packet which is limited by the ESB protocol used by the NRF
#define SYSLINK_MAX_DATA_LEN 32
#define SYSLINK_RADIO_RATE_250K 0
#define SYSLINK_RADIO_RATE_1M 1
#define SYSLINK_RADIO_RATE_2M 2
typedef struct {
uint8_t type;
uint8_t length;
uint8_t data[SYSLINK_MAX_DATA_LEN];
uint8_t cksum[2];
} __attribute__((packed)) syslink_message_t;
#define OW_SIZE 112
#define OW_READ_BLOCK 29
#define OW_WRITE_BLOCK 26 // TODO: Use even, but can be up to 27
typedef struct {
uint8_t nmems;
} __attribute__((packed)) syslink_ow_scan_t;
typedef struct {
uint8_t family; // Should by 0x0D for most chips
uint8_t sn[6];
uint8_t crc;
} __attribute__((packed)) syslink_ow_id_t;
typedef struct {
uint8_t idx;
uint8_t id[8];
} __attribute__((packed)) syslink_ow_getinfo_t;
typedef struct {
uint8_t idx;
uint16_t addr;
uint8_t data[OW_READ_BLOCK];
} __attribute__((packed)) syslink_ow_read_t;
typedef struct {
uint8_t idx;
uint16_t addr;
uint16_t length;
uint8_t data[OW_WRITE_BLOCK];
} __attribute__((packed)) syslink_ow_write_t;
typedef enum {
SYSLINK_STATE_START = 0,
SYSLINK_STATE_TYPE,
SYSLINK_STATE_LENGTH,
SYSLINK_STATE_DATA,
SYSLINK_STATE_CKSUM
} SYSLINK_STATE;
typedef struct {
SYSLINK_STATE state;
int index;
} syslink_parse_state;
#ifdef __cplusplus
extern "C" {
#endif
extern void syslink_parse_init(syslink_parse_state *state);
// Returns true if a full message was parsed
extern int syslink_parse_char(syslink_parse_state *state, char c, syslink_message_t *msg);
extern void syslink_compute_cksum(syslink_message_t *msg);
#ifdef __cplusplus
}
#endif
boards/bitcraze/crazyflie21/syslink/syslink_bridge.cpp
-162
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/****************************************************************************
*
* Copyright (c) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file syslink_bridge.cpp
*
* Character device for talking to the radio as a plain serial port
*/
#include "syslink_main.h"
#include <cstring>
SyslinkBridge::SyslinkBridge(Syslink *link) :
CDev("/dev/bridge0"),
_link(link),
_readbuffer(16, sizeof(crtp_message_t))
{
_msg_to_send.header = 0;
_msg_to_send.size = sizeof(_msg_to_send.header);
_msg_to_send.port = CRTP_PORT_MAVLINK;
_msg_to_send_size_remaining = CRTP_MAX_DATA_SIZE - 1; // to send 30 bytes of data
//ideally _msg_to_send.data size should be CRTP_MAX_DATA_SIZE but cfbridge does not receive 31 bytes of data due to a bug somewhere
}
int
SyslinkBridge::init()
{
int ret = CDev::init();
/* if init failed, bail now */
if (ret != OK) {
PX4_DEBUG("CDev init failed");
return ret;
}
return ret;
}
pollevent_t
SyslinkBridge::poll_state(struct file *filp)
{
pollevent_t state = 0;
if (!_readbuffer.empty()) {
state |= POLLIN;
}
if (_link->_writebuffer.space() > 0) {
state |= POLLOUT;
}
return state;
}
ssize_t
SyslinkBridge::read(struct file *filp, char *buffer, size_t buflen)
{
int nread = 0;
crtp_message_t msg;
while (!_readbuffer.empty() && buflen >= sizeof(CRTP_MAX_DATA_SIZE)) {
_readbuffer.get(&msg, sizeof(msg));
int size = msg.size - sizeof(msg.header);
memcpy(buffer, &msg.data, size);
nread += size;
buffer += size;
buflen -= size;
}
return nread;
}
ssize_t
SyslinkBridge::write(struct file *filp, const char *buffer, size_t buflen)
{
int buflen_rem = buflen;
while (buflen_rem > 0) {
int datasize = MIN(_msg_to_send_size_remaining, buflen_rem);
_msg_to_send.size += datasize;
memcpy(&_msg_to_send.data[CRTP_MAX_DATA_SIZE - 1 - _msg_to_send_size_remaining], buffer, datasize);
buffer += datasize;
_msg_to_send_size_remaining -= datasize;
buflen_rem -= datasize;
if (_msg_to_send_size_remaining == 0) {
if (_link->_writebuffer.force(&_msg_to_send, sizeof(crtp_message_t))) {
PX4_WARN("write buffer overflow");
}
_msg_to_send.size = sizeof(_msg_to_send.header);
_msg_to_send_size_remaining = CRTP_MAX_DATA_SIZE - 1;
}
}
return buflen;
}
int
SyslinkBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
// All termios commands should be silently ignored as they are handled
switch (cmd) {
case FIONSPACE:
*((int *) arg) = _link->_writebuffer.space() * CRTP_MAX_DATA_SIZE;
return 0;
default:
/* give it to the superclass */
CDev::ioctl(filp, cmd, arg);
return 0;
}
}
void
SyslinkBridge::pipe_message(crtp_message_t *msg)
{
_readbuffer.force(msg, sizeof(msg->size) + msg->size);
poll_notify(POLLIN);
}
boards/bitcraze/crazyflie21/syslink/syslink_main.cpp
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boards/bitcraze/crazyflie21/syslink/syslink_main.h
-216
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/****************************************************************************
*
* Copyright (c) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <battery/battery.h>
#include <drivers/device/device.h>
#include "ringbuffer.h"
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/input_rc.h>
#include "syslink.h"
#include "crtp.h"
using namespace time_literals;
#define MIN(X, Y) (((X) < (Y)) ? (X) : (Y))
typedef enum {
BAT_DISCHARGING = 0,
BAT_CHARGING = 1,
BAT_CHARGED = 2
} battery_state;
class SyslinkBridge;
class SyslinkMemory;
class Syslink
{
public:
Syslink();
int start();
int set_datarate(uint8_t datarate);
int set_channel(uint8_t channel);
int set_address(uint64_t addr);
int is_good(int i) { return _params_ack[i] != 0; }
int pktrate;
int nullrate;
int rxrate;
int txrate;
private:
friend class SyslinkBridge;
friend class SyslinkMemory;
int open_serial(const char *dev);
void handle_message(syslink_message_t *msg);
void handle_raw(syslink_message_t *sys);
void handle_radio(syslink_message_t *sys);
void handle_bootloader(syslink_message_t *sys);
// Handles other types of messages that we don't really care about, but
// will be maintained with the bare minimum implementation for supporting
// other crazyflie libraries
void handle_raw_other(syslink_message_t *sys);
int send_bytes(const void *data, size_t len);
// Checksums and transmits a syslink message
int send_message(syslink_message_t *msg);
int send_queued_raw_message();
void update_params(bool force_set);
int _syslink_task;
bool _task_running;
bool _bootloader_mode;
int _count;
int _null_count;
int _count_in;
int _count_out;
hrt_abstime _lasttime;
hrt_abstime _lasttxtime; // Last time a radio message was sent
hrt_abstime _lastrxtime; // Last time a radio message was recieved
int _fd;
// For receiving raw syslink messages to send from other processes
ringbuffer::RingBuffer _queue;
// Stores data that was needs to be written as a raw message
ringbuffer::RingBuffer _writebuffer;
SyslinkBridge *_bridge;
SyslinkMemory *_memory;
int _params_sub;
// Current parameter values
int32_t _channel, _rate;
uint64_t _addr;
hrt_abstime _params_update[3]; // Time at which the parameters were updated
hrt_abstime _params_ack[3]; // Time at which the parameters were acknowledged by the nrf module
uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US};
int32_t _rssi;
battery_state _bstate;
px4_sem_t memory_sem;
syslink_message_t memory_msg;
static int task_main_trampoline(int argc, char *argv[]);
void task_main();
};
class SyslinkBridge : public cdev::CDev
{
public:
SyslinkBridge(Syslink *link);
virtual ~SyslinkBridge() = default;
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
// Makes the message available for reading to processes reading from the bridge
void pipe_message(crtp_message_t *msg);
protected:
virtual pollevent_t poll_state(struct file *filp);
private:
Syslink *_link;
// Stores data that was received from syslink but not yet read by another driver
ringbuffer::RingBuffer _readbuffer;
crtp_message_t _msg_to_send;
int _msg_to_send_size_remaining;
};
class SyslinkMemory : public cdev::CDev
{
public:
SyslinkMemory(Syslink *link);
virtual ~SyslinkMemory() = default;
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
private:
friend class Syslink;
Syslink *_link;
int _activeI;
syslink_message_t msgbuf;
uint8_t scan();
void getinfo(int i);
int read(int i, uint16_t addr, char *buf, int length);
int write(int i, uint16_t addr, const char *buf, int length);
void sendAndWait();
};
boards/bitcraze/crazyflie21/syslink/syslink_memory.cpp
-170
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@@ -1,170 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "syslink_main.h"
#include "drv_deck.h"
#include <cstring>
SyslinkMemory::SyslinkMemory(Syslink *link) :
CDev(DECK_DEVICE_PATH),
_link(link),
_activeI(0)
{
}
int
SyslinkMemory::init()
{
int ret = CDev::init();
/* if init failed, bail now */
if (ret != OK) {
PX4_DEBUG("CDev init failed");
return ret;
}
return ret;
}
ssize_t
SyslinkMemory::read(struct file *filp, char *buffer, size_t buflen)
{
return read(_activeI, 0, buffer, buflen);
}
ssize_t
SyslinkMemory::write(struct file *filp, const char *buffer, size_t buflen)
{
// For now, unsupported
return -1;
// return buflen;
}
int
SyslinkMemory::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case DECKIOGNUM:
*((int *) arg) = scan();
return 0;
case DECKIOSNUM:
_activeI = *((int *) arg);
return 0;
case DECKIOID: {
syslink_ow_getinfo_t *data = (syslink_ow_getinfo_t *) &msgbuf.data;
getinfo(_activeI);
*((uint8_t **)arg) = data->id;
return 8;
}
default:
CDev::ioctl(filp, cmd, arg);
return 0;
}
}
uint8_t
SyslinkMemory::scan()
{
syslink_ow_scan_t *data = (syslink_ow_scan_t *) &msgbuf.data;
msgbuf.type = SYSLINK_OW_SCAN;
msgbuf.length = 0;
sendAndWait();
return data->nmems;
}
void
SyslinkMemory::getinfo(int i)
{
syslink_ow_getinfo_t *data = (syslink_ow_getinfo_t *) &msgbuf.data;
msgbuf.type = SYSLINK_OW_GETINFO;
msgbuf.length = 1;
data->idx = i;
sendAndWait();
}
int
SyslinkMemory::read(int i, uint16_t addr, char *buf, int length)
{
syslink_ow_read_t *data = (syslink_ow_read_t *) &msgbuf.data;
msgbuf.type = SYSLINK_OW_READ;
int nread = 0;
while (nread < length) {
msgbuf.length = 3;
data->idx = i;
data->addr = addr;
sendAndWait();
// Number of bytes actually read
int n = MIN(length - nread, msgbuf.length - 3);
if (n == 0) {
break;
}
memcpy(buf, data->data, n);
nread += n;
buf += n;
addr += n;
}
return nread;
}
int
SyslinkMemory::write(int i, uint16_t addr, const char *buf, int length)
{
// TODO: Unimplemented
return -1;
}
void
SyslinkMemory::sendAndWait()
{
// TODO: Force the syslink thread to wake up
_link->_queue.force(&msgbuf, sizeof(msgbuf));
px4_sem_wait(&_link->memory_sem);
}
boards/bitcraze/crazyflie21/syslink/syslink_params.c
-72
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@@ -1,72 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file syslink_params.c
*
* Parameters defined by the syslink module and the exposed NRF51 radio
*
* @author Dennis Shtatnov <densht@gmail.com>
*/
/**
* Operating channel of the NRF51
*
* @min 0
* @max 125
* @group Syslink
*/
PARAM_DEFINE_INT32(SLNK_RADIO_CHAN, 80);
/**
* Operating datarate of the NRF51
*
* @min 0
* @max 2
* @group Syslink
*/
PARAM_DEFINE_INT32(SLNK_RADIO_RATE, 2);
/**
* Operating address of the NRF51 (most significant byte)
*
* @group Syslink
*/
PARAM_DEFINE_INT32(SLNK_RADIO_ADDR1, 231); // 0xE7
/**
* Operating address of the NRF51 (least significant 4 bytes)
*
* @group Syslink
*/
PARAM_DEFINE_INT32(SLNK_RADIO_ADDR2, 3890735079); // 0xE7E7E7E7