rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity

unify the style rxbytes are assembled & remove the need for a tmp-buffer

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3131 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
ligi 2011-04-09 04:26:25 +00:00 committed by ligi
parent 23ab893f38
commit c9f9400d75
1 changed files with 8 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
flight/UAVTalk/uavtalk.c
View File

@ -242,7 +242,6 @@ static int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type
*/
int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
{
static uint8_t tmpBuffer[4];
static UAVObjHandle obj;
static uint8_t type;
static uint16_t packet_size;
@ -314,6 +313,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
}
rxCount = 0;
objId = 0;
state = STATE_OBJID;
break;
@ -322,12 +322,13 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
// update the CRC
cs = updateCRCbyte(cs, rxbyte);
tmpBuffer[rxCount++] = rxbyte;
objId += rxbyte << (8*(rxCount++));
if (rxCount < 4)
break;
// Search for object, if not found reset state machine
objId = (tmpBuffer[3] << 24) | (tmpBuffer[2] << 16) | (tmpBuffer[1] << 8) | (tmpBuffer[0]);
obj = UAVObjGetByID(objId);
if (obj == 0)
{
@ -358,6 +359,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
break;
}
instId = 0;
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
if (UAVObjIsSingleInstance(obj))
{
@ -366,7 +368,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
state = STATE_DATA;
else
state = STATE_CS;
instId = 0;
rxCount = 0;
}
else
@ -382,12 +384,11 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
// update the CRC
cs = updateCRCbyte(cs, rxbyte);
tmpBuffer[rxCount++] = rxbyte;
instId += rxbyte << (8*(rxCount++));
if (rxCount < 2)
break;
instId = (tmpBuffer[1] << 8) | (tmpBuffer[0]);
rxCount = 0;
// If there is a payload get it, otherwise receive checksum