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[sbus] use uart functions instead of macros

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This commit is contained in:
Felix Ruess
2013-07-23 13:31:22 +02:00
parent f9be3ce38d
commit a2a3031570
2 changed files with 19 additions and 21 deletions
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conf/firmwares/subsystems/shared/radio_control_sbus.makefile
+10 -3
View File
@@ -6,8 +6,15 @@ $(TARGET).CFLAGS += -DRADIO_CONTROL
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DUSE_$(SBUS_PORT) -DSBUS_LINK=$(SBUS_PORT) -D$(SBUS_PORT)_BAUD=B100000
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
# convert SBUS_PORT to upper and lower case strings:
SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)
$(TARGET).CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
$(TARGET).CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
sw/airborne/subsystems/radio_control/sbus.c
+9 -18
View File
@@ -53,13 +53,8 @@
#define RC_SET_POLARITY LED_ON
#endif
/** UART selecting
*/
#define __SBusLink(dev, _x) dev##_x
#define _SBusLink(dev, _x) __SBusLink(dev, _x)
#define SBusLink(_x) _SBusLink(SBUS_LINK, _x)
/* SBUS struct */
/** SBUS struct */
struct _sbus sbus;
// Init function
@@ -68,8 +63,8 @@ void radio_control_impl_init(void) {
sbus.status = SBUS_STATUS_UNINIT;
// Set UART parameters (100K, 8 bits, 2 stops, even parity)
SBusLink(SetBitsStopParity(UBITS_8, USTOP_2, UPARITY_EVEN));
SBusLink(SetBaudrate(B100000));
uart_periph_set_bits_stop_parity(&SBUS_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
uart_periph_set_baudrate(&SBUS_UART_DEV, B100000);
// Set polarity
#ifdef RC_POLARITY_LED
@@ -77,13 +72,8 @@ void radio_control_impl_init(void) {
#endif
}
/*
* This part is used by the autopilot to read data from a uart
*/
#define SBusBuffer() SBusLink(ChAvailable())
#define SBusGet() SBusLink(Getch())
// Decode the raw buffer
/** Decode the raw buffer */
static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available)
{
// reset counters
@@ -113,16 +103,16 @@ static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *avail
}
}
// test frame lost flag
*available = !bit_is_set(src[SBUS_FLAGS_BYTE],SBUS_FRAME_LOST_BIT);
*available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
}
// Decoding event function
// Reading from UART
void sbus_decode_event(void) {
uint8_t rbyte;
if (SBusBuffer()) {
if (uart_char_available(&SBUS_UART_DEV)) {
do {
rbyte = SBusGet();
rbyte = uart_getch(&SBUS_UART_DEV);
switch (sbus.status) {
case SBUS_STATUS_UNINIT:
// Wait for the start byte
@@ -146,6 +136,7 @@ void sbus_decode_event(void) {
default:
break;
}
} while (SBusBuffer());
} while (uart_char_available(&SBUS_UART_DEV));
}
}