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Code Issues Wiki Activity

RC Split tidy

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This commit is contained in:
Martin Budden 2017-09-25 05:55:46 +01:00
parent db8698d801
commit 9556c5b811
4 changed files with 27 additions and 47 deletions
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51
src/main/io/rcsplit.c
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@ -17,63 +17,48 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <ctype.h>
#include <platform.h>
#include "common/utils.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/serial.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "io/beeper.h"
#include "io/rcsplit.h"
#include "io/serial.h"
#include "scheduler/scheduler.h"
// communicate with camera device variables
STATIC_UNIT_TESTED serialPort_t *rcSplitSerialPort = NULL;
STATIC_UNIT_TESTED rcsplitState_e cameraState = RCSPLIT_STATE_UNKNOWN;
// only for unit test
STATIC_UNIT_TESTED rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
static uint8_t crc_high_first(uint8_t *ptr, uint8_t len)
{
uint8_t i;
uint8_t crc=0x00;
uint8_t crc = 0x00;
while (len--) {
crc ^= *ptr++;
for (i=8; i>0; --i) {
if (crc & 0x80)
for (int i=8; i>0; --i) {
if (crc & 0x80) {
crc = (crc << 1) ^ 0x31;
else
} else {
crc = (crc << 1);
}
}
}
return (crc);
return crc;
}
static void sendCtrlCommand(rcsplit_ctrl_argument_e argument)
{
if (!rcSplitSerialPort)
return ;
uint8_t uart_buffer[5] = {0};
uint8_t crc = 0;
uart_buffer[0] = RCSPLIT_PACKET_HEADER;
uart_buffer[1] = RCSPLIT_PACKET_CMD_CTRL;
uart_buffer[2] = argument;
uart_buffer[3] = RCSPLIT_PACKET_TAIL;
crc = crc_high_first(uart_buffer, 4);
uint8_t crc = crc_high_first(uart_buffer, 4);
// build up a full request [header]+[command]+[argument]+[crc]+[tail]
uart_buffer[3] = crc;
@ -85,12 +70,8 @@ static void sendCtrlCommand(rcsplit_ctrl_argument_e argument)
static void rcSplitProcessMode(void)
{
// if the device not ready, do not handle any mode change event
if (RCSPLIT_STATE_IS_READY != cameraState)
return ;
for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
uint8_t switchIndex = i - BOXCAMERA1;
const uint8_t switchIndex = i - BOXCAMERA1;
if (IS_RC_MODE_ACTIVE(i)) {
// check last state of this mode, if it's true, then ignore it.
// Here is a logic to make a toggle control for this mode
@ -124,6 +105,11 @@ static void rcSplitProcessMode(void)
}
}
bool rcSplitIsEnabled(void)
{
return rcSplitSerialPort ? true : false;
}
bool rcSplitInit(void)
{
// found the port config with FUNCTION_RUNCAM_SPLIT_CONTROL
@ -143,22 +129,13 @@ bool rcSplitInit(void)
switchStates[switchIndex].isActivated = true;
}
cameraState = RCSPLIT_STATE_IS_READY;
#ifdef USE_RCSPLIT
setTaskEnabled(TASK_RCSPLIT, true);
#endif
return true;
}
void rcSplitProcess(timeUs_t currentTimeUs)
void rcSplitUpdate(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
if (rcSplitSerialPort == NULL)
return ;
// process rcsplit custom mode if has any changed
rcSplitProcessMode();
}