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Use slightly flatter directory structure since some developers did not

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like too many folders.
Extracted code from some files into separate files to fit with the new
layout.
This commit is contained in:
Dominic Clifton 2014-04-08 22:07:37 +01:00
parent 39adc34278
commit 3bd4cd2ed2
84 changed files with 732 additions and 645 deletions
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76
src/rx_sumd.c Normal file
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#include "board.h"
#include "mw.h"
// driver for SUMD receiver using UART2
#define SUMD_SYNCBYTE 0xA8
#define SUMD_MAX_CHANNEL 8
#define SUMD_BUFFSIZE (SUMD_MAX_CHANNEL * 2 + 5) // 6 channels + 5 -> 17 bytes for 6 channels
static bool sumdFrameDone = false;
static void sumdDataReceive(uint16_t c);
static uint16_t sumdReadRawRC(uint8_t chan);
static uint32_t sumdChannelData[SUMD_MAX_CHANNEL];
void sumdInit(rcReadRawDataPtr *callback)
{
core.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX);
if (callback)
*callback = sumdReadRawRC;
}
static uint8_t sumd[SUMD_BUFFSIZE] = { 0, };
static uint8_t sumdSize;
// Receive ISR callback
static void sumdDataReceive(uint16_t c)
{
uint32_t sumdTime;
static uint32_t sumdTimeLast;
static uint8_t sumdIndex;
sumdTime = micros();
if ((sumdTime - sumdTimeLast) > 4000)
sumdIndex = 0;
sumdTimeLast = sumdTime;
if (sumdIndex == 0) {
if (c != SUMD_SYNCBYTE)
return;
else
sumdFrameDone = false; // lazy main loop didnt fetch the stuff
}
if (sumdIndex == 2)
sumdSize = (uint8_t)c;
if (sumdIndex < SUMD_BUFFSIZE)
sumd[sumdIndex] = (uint8_t)c;
sumdIndex++;
if (sumdIndex == sumdSize * 2 + 5) {
sumdIndex = 0;
sumdFrameDone = true;
}
}
bool sumdFrameComplete(void)
{
uint8_t b;
if (sumdFrameDone) {
sumdFrameDone = false;
if (sumd[1] == 0x01) {
failsafeCnt = 0;
if (sumdSize > SUMD_MAX_CHANNEL)
sumdSize = SUMD_MAX_CHANNEL;
for (b = 0; b < sumdSize; b++)
sumdChannelData[b] = ((sumd[2 * b + 3] << 8) | sumd[2 * b + 4]);
return true;
}
}
return false;
}
static uint16_t sumdReadRawRC(uint8_t chan)
{
return sumdChannelData[mcfg.rcmap[chan]] / 8;
}