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Code Issues Wiki Activity

OK, tarduino dudes aren't gonna fix their shit. So, let's live with it.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@460 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-28 00:58:32 +00:00
parent 241de2455e
commit e19aa61753
1 changed files with 20 additions and 57 deletions
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77
src/serial.c
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@ -201,20 +201,19 @@ void serializeNames(const char *s)
void serializeBoxNamesReply(void)
{
int i, j, k, flag = 1, count = 0, len;
int i, idx, j, flag = 1, count = 0, len;
reset:
// in first run of the loop, we grab total size of junk to be sent
// then come back and actually send it
for (i = 0; i < numberBoxItems; i++) {
for (j = 0; j < CHECKBOXITEMS; j++) {
if (boxes[j].boxIndex == availableBoxes[i]) {
len = strlen(boxes[j].boxName);
if (flag) {
count += len;
} else {
for (k = 0; k < len; k++)
serialize8(boxes[j].boxName[k]);
}
}
idx = availableBoxes[i];
len = strlen(boxes[idx].boxName);
if (flag) {
count += len;
} else {
for (j = 0; j < len; j++)
serialize8(boxes[idx].boxName[j]);
}
}
@ -259,15 +258,15 @@ void serialInit(uint32_t baudrate)
if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
availableBoxes[idx++] = BOXPASSTHRU;
availableBoxes[idx++] = BOXBEEPERON;
availableBoxes[idx++] = BOXOSD;
if (feature(FEATURE_INFLIGHT_ACC_CAL))
availableBoxes[idx++] = BOXCALIB;
availableBoxes[idx++] = BOXOSD;
numberBoxItems = idx;
}
static void evaluateCommand(void)
{
uint32_t i, tmp;
uint32_t i, tmp, junk;
uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0;
@ -355,10 +354,11 @@ static void evaluateCommand(void)
serialize16(cycleTime);
serialize16(i2cGetErrorCounter());
serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
#ifdef FUCK_MULTIWII
// OK, so you waste all the fucking time to have BOXNAMES and BOXINDEXES etc, and then you go ahead and serialize enabled shit simply by stuffing all
// the bits in order, instead of setting the enabled bits based on BOXINDEX. WHERE IS THE FUCKING LOGIC IN THIS, FUCKWADS.
serialize32(f.ANGLE_MODE << BOXANGLE | f.HORIZON_MODE << BOXHORIZON |
// Serialize the boxes in the order we delivered them, until multiwii retards fix their shit
junk = 0;
tmp = f.ANGLE_MODE << BOXANGLE | f.HORIZON_MODE << BOXHORIZON |
f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.HEADFREE_MODE << BOXHEADFREE | rcOptions[BOXHEADADJ] << BOXHEADADJ |
rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD |
@ -370,50 +370,13 @@ static void evaluateCommand(void)
rcOptions[BOXCALIB] << BOXCALIB |
rcOptions[BOXGOV] << BOXGOV |
rcOptions[BOXOSD] << BOXOSD |
f.ARMED << BOXARM);
#else
// Serialize the boxes in the order we delivered them
tmp = 0;
f.ARMED << BOXARM;
for (i = 0; i < numberBoxItems; i++) {
uint8_t val, box = availableBoxes[i];
switch (box) {
// Handle the special cases
case BOXANGLE:
val = f.ANGLE_MODE;
break;
case BOXHORIZON:
val = f.HORIZON_MODE;
break;
case BOXMAG:
val = f.MAG_MODE;
break;
case BOXBARO:
val = f.BARO_MODE;
break;
case BOXHEADFREE:
val = f.HEADFREE_MODE;
break;
case BOXGPSHOME:
val = f.GPS_HOME_MODE;
break;
case BOXGPSHOLD:
val = f.GPS_HOLD_MODE;
break;
case BOXPASSTHRU:
val = f.PASSTHRU_MODE;
break;
case BOXARM:
val = f.ARMED;
break;
default:
// These just directly rely on their RC inputs
val = rcOptions[box];
break;
}
tmp |= (val << i);
int flag = (tmp & (1 << availableBoxes[i]));
if (flag)
junk |= 1 << i;
}
serialize32(tmp);
#endif
serialize32(junk);
serialize8(mcfg.current_profile);
break;
case MSP_RAW_IMU: