Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

uncrustify ArduCopter/GCS.pde

This commit is contained in:
uncrustify 2012-08-16 17:50:03 -07:00 committed by Pat Hickey
parent 1fba78b594
commit 6088067ff3
1 changed files with 89 additions and 89 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

178
ArduCopter/GCS.pde
View File

@ -1,94 +1,94 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
GCS Protocol
4 Ardupilot Header
D
5 Payload length
1 Message ID
1 Message Version
9 Payload byte 1
8 Payload byte 2
7 Payload byte 3
A Checksum byte 1
B Checksum byte 2
*/
* GCS Protocol
*
* 4 Ardupilot Header
* D
* 5 Payload length
* 1 Message ID
* 1 Message Version
* 9 Payload byte 1
* 8 Payload byte 2
* 7 Payload byte 3
* A Checksum byte 1
* B Checksum byte 2
*
*/
/*
#if GCS_PORT == 3
# define SendSerw Serial3.write
# define SendSer Serial3.print
#else
# define SendSerw Serial.write
# define SendSer Serial.print
#endif
byte mess_buffer[60];
byte buff_pointer;
// Unions for getting byte values
union f_out{
byte bytes[4];
float value;
} floatOut;
union i_out {
byte bytes[2];
int16_t value;
} intOut;
union l_out{
byte bytes[4];
int32_t value;
} longOut;
// Add binary values to the buffer
void write_byte(byte val)
{
mess_buffer[buff_pointer++] = val;
}
void write_int(int16_t val )
{
intOut.value = val;
mess_buffer[buff_pointer++] = intOut.bytes[0];
mess_buffer[buff_pointer++] = intOut.bytes[1];
}
void write_float(float val)
{
floatOut.value = val;
mess_buffer[buff_pointer++] = floatOut.bytes[0];
mess_buffer[buff_pointer++] = floatOut.bytes[1];
mess_buffer[buff_pointer++] = floatOut.bytes[2];
mess_buffer[buff_pointer++] = floatOut.bytes[3];
}
void write_long(int32_t val)
{
longOut.value = val;
mess_buffer[buff_pointer++] = longOut.bytes[0];
mess_buffer[buff_pointer++] = longOut.bytes[1];
mess_buffer[buff_pointer++] = longOut.bytes[2];
mess_buffer[buff_pointer++] = longOut.bytes[3];
}
void flush(byte id)
{
byte mess_ck_a = 0;
byte mess_ck_b = 0;
byte i;
SendSer("4D"); // This is the message preamble
SendSerw(buff_pointer); // Length
SendSerw(2); // id
for (i = 0; i < buff_pointer; i++) {
SendSerw(mess_buffer[i]);
}
buff_pointer = 0;
}
*/
* #if GCS_PORT == 3
# define SendSerw Serial3.write
# define SendSer Serial3.print
##else
# define SendSerw Serial.write
# define SendSer Serial.print
##endif
#
# byte mess_buffer[60];
# byte buff_pointer;
#
# // Unions for getting byte values
# union f_out{
# byte bytes[4];
# float value;
# } floatOut;
#
# union i_out {
# byte bytes[2];
# int16_t value;
# } intOut;
#
# union l_out{
# byte bytes[4];
# int32_t value;
# } longOut;
#
# // Add binary values to the buffer
# void write_byte(byte val)
# {
# mess_buffer[buff_pointer++] = val;
# }
#
# void write_int(int16_t val )
# {
# intOut.value = val;
# mess_buffer[buff_pointer++] = intOut.bytes[0];
# mess_buffer[buff_pointer++] = intOut.bytes[1];
# }
#
# void write_float(float val)
# {
# floatOut.value = val;
# mess_buffer[buff_pointer++] = floatOut.bytes[0];
# mess_buffer[buff_pointer++] = floatOut.bytes[1];
# mess_buffer[buff_pointer++] = floatOut.bytes[2];
# mess_buffer[buff_pointer++] = floatOut.bytes[3];
# }
#
# void write_long(int32_t val)
# {
# longOut.value = val;
# mess_buffer[buff_pointer++] = longOut.bytes[0];
# mess_buffer[buff_pointer++] = longOut.bytes[1];
# mess_buffer[buff_pointer++] = longOut.bytes[2];
# mess_buffer[buff_pointer++] = longOut.bytes[3];
# }
#
# void flush(byte id)
# {
# byte mess_ck_a = 0;
# byte mess_ck_b = 0;
# byte i;
#
# SendSer("4D"); // This is the message preamble
# SendSerw(buff_pointer); // Length
# SendSerw(2); // id
#
# for (i = 0; i < buff_pointer; i++) {
# SendSerw(mess_buffer[i]);
# }
#
# buff_pointer = 0;
# }
*/