rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

Added some comment, made some functions static

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2476 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
FredericG 2011-01-18 17:51:29 +00:00 committed by FredericG
parent 56dd0569b8
commit 9758026d5a
1 changed files with 23 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
flight/Libraries/ahrs_spi_comm.c
View File

@ -112,7 +112,7 @@ static bool readyObjects[MAX_AHRS_OBJECTS];
*/
static AhrsEventCallback objCallbacks[MAX_AHRS_OBJECTS];
/** Pending events.
/** True for objects for which new data is received and callback needs to be called
*/
static bool callbackPending[MAX_AHRS_OBJECTS];
@ -190,7 +190,7 @@ void SetObjectDirty(const int idx)
/** Work out what data needs to be sent.
If an object was not sent it will be retried 4 frames later
*/
void FillObjectPacket()
static void FillObjectPacket()
{
txPacket.command = COMMS_OBJECT;
txPacket.magicNumber = TXMAGIC;
@ -230,10 +230,11 @@ void FillObjectPacket()
/** Process a received packet
*/
void HandleRxPacket()
static void HandleRxPacket()
{
switch (rxPacket.command) {
case COMMS_NULL:
// Empty packet, nothing to do
break;
case COMMS_OBJECT:
@ -246,14 +247,15 @@ void HandleRxPacket()
}
/** Process a received UAVObject packet
*/
void HandleObjectPacket()
static void HandleObjectPacket()
{
for (int ct = 0; ct < MAX_UPDATE_OBJECTS; ct++) {
uint8_t idx;
//Flag objects that have been successfully received at the other end
uint8_t idx = rxPacket.objects[ct].done;
// Flag objects that have been successfully received at the other end
idx = rxPacket.objects[ct].done;
txPacket.objects[ct].done = AHRS_NO_OBJECT;
if (idx < MAX_AHRS_OBJECTS) {
if (dirtyObjects[idx] == 1) { //this ack is the correct one for the last send
@ -261,7 +263,7 @@ void HandleObjectPacket()
}
}
txPacket.objects[ct].done = AHRS_NO_OBJECT;
// Handle received object if there is one in this packet
idx = rxPacket.objects[ct].index;
if (idx == AHRS_NO_OBJECT) {
if (emptyCount > 0) {
@ -273,7 +275,7 @@ void HandleObjectPacket()
if (obj) {
memcpy(obj->data, &rxPacket.objects[ct].object, obj->size);
txPacket.objects[ct].done = idx;
callbackPending[idx] = true;
callbackPending[idx] = true; // New data available, call callback
readyObjects[idx] = true;
} else {
txPacket.status.invalidPacket++;
@ -302,18 +304,24 @@ AhrsCommStatus AhrsGetStatus()
return (status);
}
void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
/** Function called after an SPI transfer
*/
static void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
{
#ifndef IN_AHRS
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1); //signal the end of the transfer
#endif
txPacket.command = COMMS_NULL; //we must send something so default to null
// While the crc is ok, there is a magic value in the received data for extra security
if (rxPacket.magicNumber != RXMAGIC) {
crc_ok = false;
}
if (crc_ok) {
// The received data is OK, update link state and handle data
if (!linkOk && okCount > 0) {
okCount--;
if (okCount == 0) {
@ -324,6 +332,7 @@ void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
}
HandleRxPacket();
} else {
// The received data is incorrect, update state
#ifdef IN_AHRS //AHRS - do we neeed to enter program mode?
if (memcmp(&rxPacket, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0)
{
@ -351,7 +360,9 @@ void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
#endif
}
void PollEvents(void)
/** Call callbacks for object where new data is received
*/
static void PollEvents(void)
{
for (int idx = 0; idx < MAX_AHRS_OBJECTS; idx++) {
if (objCallbacks[idx]) {
@ -367,6 +378,7 @@ void PollEvents(void)
}
}
#ifdef IN_AHRS
void AhrsPoll()
{