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[test][can][stm32] Increased the message speed to 1024/s. Displaying the high nibble of the first byte on LEDs.

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This commit is contained in:
Piotr Esden-Tempski
2012-11-12 14:20:22 -08:00
parent a8172413d4
commit b988e04c0e
1 changed files with 7 additions and 16 deletions
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sw/airborne/lisa/test_can.c
+7 -16
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@@ -63,26 +63,17 @@ int main(void) {
static inline void main_init( void ) { static inline void main_init( void ) {
mcu_init(); mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL); sys_time_register_timer((0.5/PERIODIC_FREQUENCY), NULL);
ppz_can_init(main_on_can_msg); ppz_can_init(main_on_can_msg);
} }
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
static int delay = 0;
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC();
if (delay < 100) {
delay++;
return;
}
delay = 0;
tx_data[0]+=1; tx_data[0]+=1;
ppz_can_transmit(0, tx_data, 8); ppz_can_transmit(0, tx_data, 8);
LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
} }
@@ -90,7 +81,7 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) { static inline void main_event_task( void ) {
if (new_can_data) { if (new_can_data) {
if (rx_data[0] & 1) { if (rx_data[0] & 0x10) {
LED_ON(2); LED_ON(2);
} else { } else {
LED_OFF(2); LED_OFF(2);
@@ -98,7 +89,7 @@ static inline void main_event_task( void ) {
} }
if (new_can_data) { if (new_can_data) {
if (rx_data[0] & 2) { if (rx_data[0] & 0x20) {
LED_ON(3); LED_ON(3);
} else { } else {
LED_OFF(3); LED_OFF(3);
@@ -106,7 +97,7 @@ static inline void main_event_task( void ) {
} }
if (new_can_data) { if (new_can_data) {
if (rx_data[0] & 4) { if (rx_data[0] & 0x40) {
LED_ON(4); LED_ON(4);
} else { } else {
LED_OFF(4); LED_OFF(4);
@@ -114,7 +105,7 @@ static inline void main_event_task( void ) {
} }
if (new_can_data) { if (new_can_data) {
if (rx_data[0] & 8) { if (rx_data[0] & 0x80) {
LED_ON(5); LED_ON(5);
} else { } else {
LED_OFF(5); LED_OFF(5);