Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-24 05:45:59 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

remove beth_hack, add rx event flag, and prototype in header

Browse Source
This commit is contained in:
Paul Cox
2010-07-22 12:35:37 +00:00
parent ae99529e25
commit bde49ced11
2 changed files with 8 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/stm32/can_hw.c
+7 -20
View File
@@ -44,6 +44,8 @@ CanTxMsg can_tx_msg;
CanRxMsg can_rx_msg;
RCC_ClocksTypeDef rcc_clocks;
volatile uint8_t CAN_RX_FLAG;
void can_hw_init(void)
{
GPIO_InitTypeDef gpio;
@@ -138,17 +140,17 @@ int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len)
return 0;
}
#ifdef BETH_HACK
uint16_t halfw1,halfw2,halfw3,halfw4,tempid;
#endif
void usb_lp_can1_rx0_irq_handler(void)
{
CAN_Receive(CAN1, CAN_FIFO0, &can_rx_msg);
//set CAN receive event flag
CAN_RX_FLAG = 1;
LED_TOGGLE(5);
#ifdef BLINKENLIGHTS
//code piotr used to show receive activity
//LED_TOGGLE(1);
if((can_rx_msg.Data[0] & 0x01) == 0x01){
LED_ON(4);
}else{
@@ -169,20 +171,5 @@ void usb_lp_can1_rx0_irq_handler(void)
}else{
LED_OFF(7);
}
#endif
#ifdef BETH_HACK
tempid = (uint16_t)(can_rx_msg.ExtId>>7);
if (tempid == 2) {
halfw2 = can_rx_msg.Data[3];
halfw2 = (halfw2<<8) + can_rx_msg.Data[2];
halfw1 = can_rx_msg.Data[1];
halfw1 = (halfw1<<8) + can_rx_msg.Data[0];
} else {
halfw4 = can_rx_msg.Data[3];
halfw4 = (halfw4<<8) + can_rx_msg.Data[2];
halfw3 = can_rx_msg.Data[1];
halfw3 = (halfw3<<8) + can_rx_msg.Data[0];
}
#endif
#endif
}
sw/airborne/stm32/can_hw.h
+1
View File
@@ -26,6 +26,7 @@
#define CAN_HW_H
void can_hw_init(void);
void usb_lp_can1_rx0_irq_handler(void);
int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len);
#endif /* CAN_HW_H */