rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-19 04:52:12 +01:00
Code Issues Releases Activity

LP-196 Added Auto-Baud-Rate code. Will toggle between high (125 KBaud) and low (250 KBaud) baud rate every EXBUS_BAUD_RATE_LIMIT (set to 64 right now).

Browse Source 
Cleaned out some unused variables.
This commit is contained in:
Fredrik Arvidsson 2016-01-05 14:03:15 +01:00
parent d00c169dbb
commit 534ff1ff3c
1 changed files with 27 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
flight/pios/common/pios_exbus.c
View File

@ -54,6 +54,10 @@
#define EXBUS_DATA_TELEMETRY 0x3A
#define EXBUS_DATA_JETIBOX 0x3B
#define EXBUS_LOW_BAUD_RATE 125000
#define EXBUS_HIGH_BAUD_RATE 250000
#define EXBUS_BAUD_RATE_LIMIT 64
/* Forward Declarations */
static int32_t PIOS_EXBUS_Get(uint32_t rcvr_id, uint8_t channel);
static uint16_t PIOS_EXBUS_RxInCallback(uint32_t context,
@ -88,7 +92,8 @@ struct pios_exbus_state {
uint8_t received_data[EXBUS_MAX_FRAME_LENGTH];
uint8_t receive_timer;
uint8_t failsafe_timer;
uint8_t tx_connected;
uint8_t failsafe_count;
bool high_baud_rate;
uint8_t byte_count;
uint8_t frame_length;
uint16_t crc;
@ -97,7 +102,8 @@ struct pios_exbus_state {
struct pios_exbus_dev {
enum pios_exbus_dev_magic magic;
const struct pios_exbus_cfg *cfg;
uint32_t com_port_id;
const struct pios_com_driver *driver;
struct pios_exbus_state state;
};
@ -152,8 +158,9 @@ static void PIOS_EXBUS_ResetState(struct pios_exbus_dev *exbus_dev)
struct pios_exbus_state *state = &(exbus_dev->state);
state->receive_timer = 0;
state->failsafe_timer = 0;
state->failsafe_count = 0;
state->high_baud_rate = false;
state->frame_found = false;
state->tx_connected = 0;
PIOS_EXBUS_ResetChannels(exbus_dev);
}
@ -277,9 +284,11 @@ static void PIOS_EXBUS_UpdateState(struct pios_exbus_dev *exbus_dev, uint8_t byt
state->frame_length = byte;
}
if(state->byte_count == state->frame_length) {
if (!PIOS_EXBUS_UnrollChannels(exbus_dev))
if (!PIOS_EXBUS_UnrollChannels(exbus_dev)) {
/* data looking good */
state->failsafe_timer = 0;
state->failsafe_count = 0;
}
/* get ready for the next frame */
state->frame_found = false;
}
@ -314,6 +323,9 @@ int32_t PIOS_EXBUS_Init(uint32_t *exbus_id,
PIOS_DEBUG_Assert(0);
}
exbus_dev->driver = driver;
exbus_dev->com_port_id = lower_id;
return 0;
}
@ -368,6 +380,16 @@ static int32_t PIOS_EXBUS_Get(uint32_t rcvr_id, uint8_t channel)
return exbus_dev->state.channel_data[channel];
}
static void PIOS_EXBUS_Change_BaudRate(struct pios_exbus_dev *device) {
struct pios_exbus_state *state = &(device->state);
if (++state->failsafe_count >= EXBUS_BAUD_RATE_LIMIT) {
state->high_baud_rate = !state->high_baud_rate;
(device->driver->set_baud) (device->com_port_id,
state->high_baud_rate ? EXBUS_HIGH_BAUD_RATE : EXBUS_LOW_BAUD_RATE);
state->failsafe_count = 0;
}
}
/**
* Input data supervisor is called periodically and provides
* two functions: frame syncing and failsafe triggering.
@ -401,7 +423,7 @@ static void PIOS_EXBUS_Supervisor(uint32_t exbus_id)
if (++state->failsafe_timer > 64) {
PIOS_EXBUS_ResetChannels(exbus_dev);
state->failsafe_timer = 0;
state->tx_connected = 0;
PIOS_EXBUS_Change_BaudRate(exbus_dev);
}
}