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added support for outputting FrSky telemetry by silpstream @ rcgroups

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feature TELEMETRY to enable it. when armed, telemetry is sent out the TX pin. It must be connected to 'Rx' pin of FrSky telemetry receiver via a level shifter. When disarmed, port goes back to 115200 bps for GUI.
fixed a typo in imu.c introduced by  GYRO_INTERLEAVE junk.
todo: just switch serial speed instead of reinitializing everything.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@173 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-01 15:32:45 +00:00
parent 9c2204c179
commit c998f5ca67
12 changed files with 5031 additions and 4769 deletions
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6
src/serial.c
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@ -70,6 +70,7 @@ static const char pidnames[] =
static uint8_t checksum, indRX, inBuf[INBUF_SIZE];
static uint8_t cmdMSP;
static bool guiConnected = false;
void serialize32(uint32_t a)
{
@ -396,6 +397,7 @@ void serialCom(void)
indRX = 0;
checksum ^= c;
c_state = HEADER_SIZE; // the command is to follow
guiConnected = true;
} else if (c_state == HEADER_SIZE) {
cmdMSP = c;
checksum ^= c;
@ -410,4 +412,8 @@ void serialCom(void)
c_state = IDLE;
}
}
if (!cliMode && !uartAvailable() && feature(FEATURE_TELEMETRY) && f.ARMED) { //The first 2 conditions should never evaluate to true but I'm putting it here anyway - silpstream
sendTelemetry();
return;
}
}