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Update fms_spi_autopilot_msg to new CRC api

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This commit is contained in:
Allen Ibara
2010-08-12 22:28:40 +00:00
parent c8f65f7d9f
commit e45f01f4ef
2 changed files with 28 additions and 7 deletions
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conf/autopilot/subsystems/lisa_spi_link.makefile
+25
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@@ -0,0 +1,25 @@
# Hey Emacs, this is a -*- makefile -*-
#
# $Id: lisa_test_progs.makefile 4982 2010-06-18 13:51:00Z poine $
# Copyright (C) 2010 Antoine Drouin
#
# This file is part of Paparazzi.
#
# Paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# Paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
ap.CFLAGS += -DUSE_SPI_LINK -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
ap.srcs += $(SRC_FMS)/fms_spi_autopilot_msg.c
ap.srcs += $(SRC_FMS)/fms_spi_link.c
sw/airborne/fms/fms_spi_autopilot_msg.c
+3 -7
View File
@@ -32,7 +32,6 @@
#include "fms_spi_link.h"
#include "fms_autopilot_msg.h"
#include "fms_spi_autopilot_msg.h"
#include "fms_crc.h"
/* all these for telemetry */
#include "messages2.h"
@@ -152,17 +151,14 @@ void spi_ap_link_periodic()
static struct AutopilotMessageCRCFrame msg_up;
static struct AutopilotMessageCRCFrame msg_down;
static uint32_t crc_errors = 0;
static uint32_t foo = 0;
crc_t crc_in;
uint8_t crc_valid;
passthrough_down_fill(&msg_down.payload.msg_down);
msg_down.crc = crc__calc_block_crc8(&msg_down, sizeof(union AutopilotMessage));
// SPI transcieve
spi_link_send(&msg_down, sizeof(struct AutopilotMessageCRCFrame), &msg_up);
crc_in = crc__calc_block_crc8(&msg_up, sizeof(union AutopilotMessage));
spi_link_send(&msg_down, sizeof(struct AutopilotMessageCRCFrame), &msg_up, &crc_valid);
if(msg_up.crc != crc_in) {
if(crc_valid) {
crc_errors++;
} else {
passthrough_up_parse(&msg_up.payload.msg_up);