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

Command upload functional. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@803 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-08 04:12:35 +00:00
parent d72c61b80a
commit 744d72ea2b
1 changed files with 23 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
libraries/APM_BinComm/APM_BinComm.cpp
View File

@ -42,7 +42,7 @@
/// inter-byte timeout for decode (ms)
#define DEC_MESSAGE_TIMEOUT 100
#define DEC_MESSAGE_TIMEOUT 1000
BinComm::BinComm(const BinComm::MessageHandler *handlerTable,
Stream *interface) :
@ -97,6 +97,13 @@ BinComm::update(void)
//
// XXX we might want to further constrain this count
count = _interface->available();
//if (count > 0)
//{
//Serial.print("count: ");
//Serial.println(count,DEC);
//}
while (count--)
_decode(_interface->read());
}
@ -114,6 +121,8 @@ BinComm::_decode(uint8_t inByte)
// run the decode state machine
//
//Serial.print("decode phase: "); Serial.println(_decodePhase,DEC);
//Serial.print("in byte: "); Serial.println(inByte,HEX);
switch (_decodePhase) {
// Preamble detection
@ -203,11 +212,20 @@ BinComm::_decode(uint8_t inByte)
// call any handler interested in this message
for (tableIndex = 0; MSG_NULL != _handlerTable[tableIndex].messageID; tableIndex++)
if ((_handlerTable[tableIndex].messageID == _messageID) ||
(_handlerTable[tableIndex].messageID == MSG_ANY))
if(_handlerTable[tableIndex].messageID == MSG_ACKNOWLEDGE)
{
_handlerTable[tableIndex].handler(_handlerTable[tableIndex].arg, _messageID, _messageVersion, &_decodeBuf);
send_msg_acknowledge(_messageID,_sumA,_sumB);
// don't acknowledge, to avoid infinite ack echo
}
else if(_handlerTable[tableIndex].messageID == MSG_ANY ||
_handlerTable[tableIndex].messageID == _messageID )
{
_handlerTable[tableIndex].handler(_handlerTable[tableIndex].arg,
_messageID, _messageVersion, &_decodeBuf);
send_msg_acknowledge(_messageID,_sumA,_sumB);
}
else
{
Serial.println("unhandled message");
}
} else {
badMessagesReceived++;