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[modules] Generic UART sensor cleanup (#3071)

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This commit is contained in:
Freek van Tienen
2023-09-15 09:02:37 +02:00
committed by GitHub
parent 1b5068eb5b
commit 4ce25f4ad8
2 changed files with 17 additions and 13 deletions
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conf/modules/generic_uart_sensor.xml
+3 -1
View File
@@ -2,10 +2,12 @@
<module name="generic_uart_sensor" dir="sensors">
<doc>
<description>Generic UART sesnsor where the data is forwarded tot the GCS</description>
<description>Generic UART sesnsor where the data is forwarded to the GCS</description>
<configure name="GENERIC_UART_PORT" value="UART4" description="select which uart it is connected to"/>
<configure name="GENERIC_UART_BAUD" value="B9600" description="set the baudrate of the uart"/>
<define name="GENERIC_UART_ENDCHAR" value="&gt;" description="ending character for receiving"/>
<define name="GENERIC_UART_MAX_SENDLEN" value="64" description="length to start sending without waiting for the endchar (should be smaller than the buffer size)"/>
<define name="GENERIC_UART_MAX_BUFSIZE" value="128" description="maxmimum buffer size"/>
</doc>
<header>
<file name="generic_uart.h"/>
sw/airborne/modules/sensors/generic_uart.c
+14 -12
View File
@@ -33,21 +33,27 @@
#define GENERIC_UART_ENDCHAR '>'
#endif
/* Default max sending message */
#ifndef GENERIC_UART_MAX_SENDLEN
#define GENERIC_UART_MAX_SENDLEN 64
#endif
/* Default max buffer size */
#ifndef GENERIC_UART_MAX_BUFSIZE
#define GENERIC_UART_MAX_BUFSIZE 128
#endif
/* Main variables */
static struct link_device *gen_uart_dev = (&((GENERIC_UART_PORT).device)); ///< UART device for communication
/* Event function to read UART message and forward to downlink */
void generic_uart_event(void) {
// Receive buffer
static uint8_t gen_msg_buf[128];
static uint8_t gen_msg_buf[GENERIC_UART_MAX_BUFSIZE];
static uint8_t gen_msg_cnt = 0;
// Transmit buffer
static uint8_t msg_buf_snd[128];
static uint8_t msg_cnt_snd = 0;
// Look for data on serial port and save it in the buffer
while (gen_uart_dev->char_available(gen_uart_dev->periph)) {
while (gen_msg_cnt < GENERIC_UART_MAX_BUFSIZE && gen_uart_dev->char_available(gen_uart_dev->periph)) {
gen_msg_buf[gen_msg_cnt++] = gen_uart_dev->get_byte(gen_uart_dev->periph);
if(gen_msg_buf[gen_msg_cnt-1] == GENERIC_UART_ENDCHAR)
@@ -55,12 +61,8 @@ void generic_uart_event(void) {
}
// Forward the message to the GCS
if(gen_msg_buf[gen_msg_cnt-1] == GENERIC_UART_ENDCHAR || gen_msg_cnt > 50) {
msg_cnt_snd = gen_msg_cnt;
for(uint8_t i = 0; i < msg_cnt_snd; ++i)
msg_buf_snd[i] = gen_msg_buf[i];
DOWNLINK_SEND_PAYLOAD(DefaultChannel, DefaultDevice, msg_cnt_snd, msg_buf_snd);
if(gen_msg_buf[gen_msg_cnt-1] == GENERIC_UART_ENDCHAR || gen_msg_cnt > GENERIC_UART_MAX_SENDLEN) {
DOWNLINK_SEND_PAYLOAD(DefaultChannel, DefaultDevice, gen_msg_cnt, gen_msg_buf);
gen_msg_buf[0] = 0;
gen_msg_cnt = 0;