[paparazzi-commits] [5278] adding checksum to SPI coms between STM32 and overo

[antoine drouin]

Revision: 5278
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5278
Author:   poine
Date:     2010-08-09 19:07:58 +0000 (Mon, 09 Aug 2010)
Log Message:
-----------
adding checksum to SPI coms between STM32 and overo

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link_crc.c

Added: paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link_crc.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link_crc.c                   
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link_crc.c   2010-08-09 
19:07:58 UTC (rev 5278)
@@ -0,0 +1,96 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include <string.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "lisa/lisa_overo_link_crc.h"
+#include "fms/fms_autopilot_msg.h"
+
+#include "my_debug_servo.h"
+
+static inline void main_periodic( void );
+static inline void main_event( void );
+static inline void on_overo_msg_received(void);
+static inline void on_overo_link_crc_err(void);
+static inline void on_overo_link_lost(void);
+
+
+int main(void) {
+
+  hw_init();
+  sys_time_init();
+  overo_link_init();
+  DEBUG_SERVO1_INIT();
+
+#ifdef USE_IRQ_INLINE_HANDLER
+  SetOveroLinkHandler(on_overo_msg_received);
+#endif
+  
+  while (1) {
+    if (sys_time_periodic()) {
+      main_periodic();
+    }
+    main_event(); 
+  }
+  
+  return 0;
+}
+
+
+static inline void main_periodic( void ) {
+  OveroLinkPeriodic(on_overo_link_lost);
+  RunOnceEvery(10,{ LED_PERIODIC();});
+}
+
+static inline void main_event( void ) {
+#ifndef USE_IRQ_INLINE_HANDLER
+  OveroLinkEvent(on_overo_msg_received, on_overo_link_crc_err);
+#endif
+}
+
+static inline void on_overo_link_crc_err(void) {
+  
+  //  DEBUG_S2_TOGGLE(); 
+  memcpy(&overo_link.up.msg, 
+         &overo_link.down.msg, 
+         sizeof(union AutopilotMessage));
+
+}
+
+static inline void on_overo_link_lost(void) {
+
+  DEBUG_S3_TOGGLE(); 
+
+}
+
+static inline void on_overo_msg_received(void) {
+  
+  memcpy(&overo_link.up.msg, 
+         &overo_link.down.msg, 
+         sizeof(union AutopilotMessage));
+
+}
+