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Improvement: Updated SUMD to support 16 channels.

This commit is contained in:
Dominic Clifton 2014-05-15 14:29:49 +01:00
parent 032202ef8f
commit ed321e3c8d
2 changed files with 8030 additions and 4519 deletions
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12505
obj/cleanflight_CHEBUZZF3.hex
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44
src/rx_sumd.c
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@ -18,7 +18,7 @@
// FIXME test support for more than 8 channels, should probably work up to 12 channels
#define SUMD_SYNCBYTE 0xA8
#define SUMD_MAX_CHANNEL 8
#define SUMD_MAX_CHANNEL 16
#define SUMD_BUFFSIZE (SUMD_MAX_CHANNEL * 2 + 5) // 6 channels + 5 = 17 bytes for 6 channels
#define SUMD_BAUDRATE 115200
@ -50,7 +50,7 @@ bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
}
static uint8_t sumd[SUMD_BUFFSIZE] = { 0, };
static uint8_t sumdSize;
static uint8_t sumdChannels;
// Receive ISR callback
static void sumdDataReceive(uint16_t c)
@ -71,33 +71,47 @@ static void sumdDataReceive(uint16_t c)
sumdFrameDone = false; // lazy main loop didnt fetch the stuff
}
if (sumdIndex == 2)
sumdSize = (uint8_t)c;
sumdChannels = (uint8_t)c;
if (sumdIndex < SUMD_BUFFSIZE)
sumd[sumdIndex] = (uint8_t)c;
sumdIndex++;
if (sumdIndex == sumdSize * 2 + 5) {
if (sumdIndex == sumdChannels * 2 + 5) {
sumdIndex = 0;
sumdFrameDone = true;
}
}
#define SUMD_OFFSET_CHANNEL_1_HIGH 3
#define SUMD_OFFSET_CHANNEL_1_LOW 4
#define SUMD_BYTES_PER_CHANNEL 2
bool sumdFrameComplete(void)
{
uint8_t b;
uint8_t channelIndex;
if (sumdFrameDone) {
sumdFrameDone = false;
if (sumd[1] == 0x01) {
if (sumdSize > SUMD_MAX_CHANNEL)
sumdSize = SUMD_MAX_CHANNEL;
for (b = 0; b < sumdSize; b++)
sumdChannelData[b] = ((sumd[2 * b + 3] << 8) | sumd[2 * b + 4]);
return true;
}
}
if (!sumdFrameDone) {
return false;
}
sumdFrameDone = false;
if (sumd[1] != 0x01) {
return false;
}
if (sumdChannels > SUMD_MAX_CHANNEL)
sumdChannels = SUMD_MAX_CHANNEL;
for (channelIndex = 0; channelIndex < sumdChannels; channelIndex++) {
sumdChannelData[channelIndex] = (
(sumd[SUMD_BYTES_PER_CHANNEL * channelIndex + SUMD_OFFSET_CHANNEL_1_HIGH] << 8) |
sumd[SUMD_BYTES_PER_CHANNEL * channelIndex + SUMD_OFFSET_CHANNEL_1_LOW]
);
}
return true;
}
static uint16_t sumdReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
{
return sumdChannelData[chan] / 8;