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LP-196 Cleaned up some code.
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534ff1ff3c
commit
c8edd023a2
@ -93,10 +93,10 @@ struct pios_exbus_state {
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uint8_t receive_timer;
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uint8_t failsafe_timer;
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uint8_t failsafe_count;
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bool high_baud_rate;
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uint8_t byte_count;
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uint8_t frame_length;
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uint16_t crc;
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bool high_baud_rate;
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bool frame_found;
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};
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@ -176,7 +176,7 @@ static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
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if(state->crc != 0) {
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/* crc failed */
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DEBUG_PRINTF(2, "Jeti CRC error!%d\r\n");
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goto stream_error;
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return -1;
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}
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enum pios_exbus_frame_state exbus_state = EXBUS_STATE_SYNC;
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@ -193,7 +193,7 @@ static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
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exbus_state = EXBUS_STATE_REQ;
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}
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else {
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goto stream_error;
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return -1;
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}
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byte += sizeof(uint8_t);
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break;
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@ -209,8 +209,9 @@ static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
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else if(*byte == EXBUS_BYTE_NOREQ) {
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exbus_state = EXBUS_STATE_LEN;
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}
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else
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goto stream_error;
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else {
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return -1;
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}
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byte += sizeof(uint8_t);
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break;
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@ -231,8 +232,9 @@ static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
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if(*byte == EXBUS_DATA_CHANNEL) {
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exbus_state = EXBUS_STATE_SUBLEN;
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}
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else
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goto stream_error;
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else {
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return -1;
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}
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byte += sizeof(uint8_t);
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break;
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@ -251,15 +253,7 @@ static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
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break;
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}
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}
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for(; channel < EXBUS_MAX_CHANNELS; channel++) {
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/* this channel was not received */
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state->channel_data[channel] = PIOS_RCVR_INVALID;
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}
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return 0;
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stream_error:
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return -1;
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}
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/* Update decoder state processing input byte from the stream */
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