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This commit is contained in:
treymarc 2014-04-12 02:51:42 +00:00
parent aa253a387d
commit cabf7eaac3
7 changed files with 25 additions and 26 deletions
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10
src/sbus.c
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@ -20,7 +20,7 @@ static uint32_t sbusChannelData[SBUS_MAX_CHANNEL];
void sbusInit(rcReadRawDataPtr *callback)
{
int b;
for (b = 0; b < SBUS_MAX_CHANNEL; b ++)
for (b = 0; b < SBUS_MAX_CHANNEL; b++)
sbusChannelData[b] = 2 * (mcfg.midrc - SBUS_OFFSET);
core.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, (portMode_t)(MODE_RX | MODE_SBUS));
if (callback)
@ -49,9 +49,9 @@ typedef union
uint8_t in[SBUS_FRAME_SIZE];
struct sbus_dat msg;
} sbus_msg;
static sbus_msg sbus;
// Receive ISR callback
static void sbusDataReceive(uint16_t c)
{
@ -63,12 +63,12 @@ static void sbusDataReceive(uint16_t c)
if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing
sbusFramePosition = 0;
sbusTimeLast = sbusTime;
if (sbusFramePosition == 0 && c != SBUS_SYNCBYTE)
return;
sbusFrameDone = false; // lazy main loop didnt fetch the stuff
if (sbusFramePosition != 0)
if (sbusFramePosition != 0)
sbus.in[sbusFramePosition - 1] = (uint8_t)c;
if (sbusFramePosition == SBUS_FRAME_SIZE - 1) {