[paparazzi-commits] [5295] spi recovers

[antoine drouin]

Revision: 5295
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5295
Author:   poine
Date:     2010-08-09 23:41:03 +0000 (Mon, 09 Aug 2010)
Log Message:
-----------
spi recovers

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

Modified: paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link_crc.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link_crc.c   2010-08-09 
23:38:41 UTC (rev 5294)
+++ paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link_crc.c   2010-08-09 
23:41:03 UTC (rev 5295)
@@ -44,18 +44,14 @@
   sys_time_init();
   overo_link_init();
   DEBUG_SERVO1_INIT();
+  DEBUG_SERVO2_INIT();
 
-#ifdef USE_IRQ_INLINE_HANDLER
-  SetOveroLinkHandler(on_overo_msg_received);
-#endif
-  
   while (1) {
     if (sys_time_periodic()) {
       main_periodic();
     }
     main_event(); 
   }
-  
   return 0;
 }
 
@@ -66,20 +62,10 @@
 }
 
 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(); 
@@ -88,9 +74,20 @@
 
 static inline void on_overo_msg_received(void) {
   
+  DEBUG_S1_TOGGLE(); 
   memcpy(&overo_link.up.msg, 
          &overo_link.down.msg, 
          sizeof(union AutopilotMessage));
 
 }
 
+
+static inline void on_overo_link_crc_err(void) {
+  
+  DEBUG_S2_TOGGLE(); 
+  //  memcpy(&overo_link.up.msg, 
+  //         &overo_link.down.msg, 
+  //         sizeof(union AutopilotMessage));
+
+}
+