3737#include "config.h"
3838
3939#include <stdlib.h>
40+ #include <stdint.h>
4041#include <stdio.h>
4142#include <unistd.h>
4243#include <string.h>
@@ -67,14 +68,14 @@ static char Name[] = "TeakLCM";
6768static int global_reset_rx_flag = 0 ;
6869
6970
70- #define HI8 (value ) ((u_int8_t )(((value)>>8) & 0xff))
71- #define LO8 (value ) ((u_int8_t )((value) & 0xff))
71+ #define HI8 (value ) ((uint8_t )(((value)>>8) & 0xff))
72+ #define LO8 (value ) ((uint8_t )((value) & 0xff))
7273
7374
74- static u_int16_t CRC16 (u_int8_t value , u_int16_t crcin )
75+ static uint16_t CRC16 (uint8_t value , uint16_t crcin )
7576{
76- u_int16_t k = (((crcin >> 8 ) ^ value ) & 255 ) << 8 ;
77- u_int16_t crc = 0 ;
77+ uint16_t k = (((crcin >> 8 ) ^ value ) & 255 ) << 8 ;
78+ uint16_t crc = 0 ;
7879 int bits ;
7980 for (bits = 8 ; bits ; -- bits ) {
8081 if ((crc ^ k ) & 0x8000 )
@@ -100,7 +101,7 @@ static char printable(const char ch)
100101
101102static void debug_data_int (const char * prefix , const void * data , const size_t size , const unsigned int delta )
102103{
103- const u_int8_t * b = (const u_int8_t * ) data ;
104+ const uint8_t * b = (const uint8_t * ) data ;
104105 size_t y ;
105106 assert (delta <= 24 );
106107 for (y = 0 ; y < size ; y += delta ) {
@@ -284,7 +285,7 @@ static
284285void fsm_handle_cmd (lcm_fsm_t * fsm , const lcm_cmd_t cmd );
285286
286287static
287- void fsm_handle_datacmd (lcm_fsm_t * fsm , const lcm_cmd_t cmd , const u_int8_t * payload , const unsigned int payload_len );
288+ void fsm_handle_datacmd (lcm_fsm_t * fsm , const lcm_cmd_t cmd , const uint8_t * payload , const unsigned int payload_len );
288289
289290static
290291void try_reset (void );
@@ -304,7 +305,7 @@ void fsm_trans_data(lcm_fsm_t * fsm,
304305
305306
306307static
307- void fsm_handle_bytes (lcm_fsm_t * fsm , u_int8_t * rxbuf , const unsigned int buflen )
308+ void fsm_handle_bytes (lcm_fsm_t * fsm , uint8_t * rxbuf , const unsigned int buflen )
308309{
309310 if ((buflen >= 3 ) && (rxbuf [0 ] == LCM_FRAME_MASK ) && (rxbuf [2 ] == LCM_FRAME_MASK )) {
310311 const lcm_cmd_t cmd = rxbuf [1 ];
@@ -322,7 +323,7 @@ void fsm_handle_bytes(lcm_fsm_t * fsm, u_int8_t * rxbuf, const unsigned int bufl
322323 debug ("%s Received possible data frame" , __FUNCTION__ );
323324
324325 /* unescape rxframe data in place */
325- u_int16_t crc0 = 0 , crc1 = 0 , crc2 = 0 , crc3 = 0 ;
326+ uint16_t crc0 = 0 , crc1 = 0 , crc2 = 0 , crc3 = 0 ;
326327 for (ri = 1 , ci = 1 ; ri < buflen ; ri ++ ) {
327328 switch (rxbuf [ri ]) {
328329 case LCM_ESC :
@@ -339,7 +340,7 @@ void fsm_handle_bytes(lcm_fsm_t * fsm, u_int8_t * rxbuf, const unsigned int bufl
339340 if ((rxbuf [ci - 1 ] == LCM_FRAME_MASK ) && (rxbuf [ci - 2 ] == LO8 (crc3 )) && (rxbuf [ci - 3 ] == HI8 (crc3 ))) {
340341 /* looks like a complete data frame */
341342 lcm_cmd_t cmd = rxbuf [1 ];
342- u_int16_t len = (rxbuf [3 ] << 8 ) + rxbuf [2 ];
343+ uint16_t len = (rxbuf [3 ] << 8 ) + rxbuf [2 ];
343344 assert (ci == (unsigned int ) (1 + 1 + 2 + len + 2 + 1 ));
344345 fsm_handle_datacmd (fsm , cmd , & rxbuf [4 ], len );
345346 if (ri + 1 < buflen ) {
@@ -420,7 +421,7 @@ static void fsm_handle_cmd(lcm_fsm_t * fsm, lcm_cmd_t cmd)
420421
421422
422423static
423- void fsm_handle_datacmd (lcm_fsm_t * fsm , const lcm_cmd_t cmd , const u_int8_t * payload , unsigned int payload_len )
424+ void fsm_handle_datacmd (lcm_fsm_t * fsm , const lcm_cmd_t cmd , const uint8_t * payload , unsigned int payload_len )
424425{
425426 const lcm_state_t old_state = fsm_get_state (fsm );
426427 debug ("fsm_handle_datacmd: old state 0x%02x %s" , old_state , state2str (old_state ));
@@ -677,7 +678,7 @@ void raw_send_data_frame(lcm_cmd_t cmd, const char *data, const unsigned int len
677678 unsigned int di ; /* data index */
678679 unsigned int fi ; /* frame index */
679680 static char frame [32 ];
680- u_int16_t crc = 0 ;
681+ uint16_t crc = 0 ;
681682
682683 frame [0 ] = LCM_FRAME_MASK ;
683684
@@ -740,7 +741,7 @@ void lcm_event_callback(event_flags_t flags, void *data)
740741 lcm_fsm_t * fsm = (lcm_fsm_t * ) data ;
741742 debug ("%s: flags=%d, data=%p" , __FUNCTION__ , flags , data );
742743 if (flags & EVENT_READ ) {
743- static u_int8_t rxbuf [32 ];
744+ static uint8_t rxbuf [32 ];
744745 const int readlen = drv_generic_serial_poll ((void * ) rxbuf , sizeof (rxbuf ));
745746 if (readlen <= 0 ) {
746747 debug ("%s Received no data" , __FUNCTION__ );
@@ -901,7 +902,7 @@ static int drv_TeakLCM_start(const char *section)
901902 debug ("%s: %s opened" , Name , __FUNCTION__ );
902903
903904 /* read initial garbage data */
904- static u_int8_t rxbuf [32 ];
905+ static uint8_t rxbuf [32 ];
905906 const int readlen = drv_generic_serial_poll ((void * ) rxbuf , sizeof (rxbuf ));
906907 if (readlen >= 0 ) {
907908 debug_data (" initial RX garbage " , rxbuf , readlen );
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