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AP_Beacon: have nooploop use base-class uart instance

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Peter Barker 2021-10-25 08:14:40 +11:00 committed by Andrew Tridgell
parent 73fb871695
commit 6a46ccf019
2 changed files with 8 additions and 9 deletions
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16
libraries/AP_Beacon/AP_Beacon_Nooploop.cpp
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@ -53,14 +53,14 @@ bool AP_Beacon_Nooploop::healthy()
void AP_Beacon_Nooploop::update(void) void AP_Beacon_Nooploop::update(void)
{ {
// return immediately if not serial port // return immediately if not serial port
if (_uart == nullptr) { if (uart == nullptr) {
return; return;
} }
// check uart for any incoming messages // check uart for any incoming messages
uint32_t nbytes = MIN(_uart->available(), 1024U); uint32_t nbytes = MIN(uart->available(), 1024U);
while (nbytes-- > 0) { while (nbytes-- > 0) {
int16_t b = _uart->read(); int16_t b = uart->read();
if (b >= 0 ) { if (b >= 0 ) {
MsgType type = parse_byte((uint8_t)b); MsgType type = parse_byte((uint8_t)b);
if (type == MsgType::NODE_FRAME2) { if (type == MsgType::NODE_FRAME2) {
@ -80,13 +80,13 @@ void AP_Beacon_Nooploop::update(void)
void AP_Beacon_Nooploop::request_setting() void AP_Beacon_Nooploop::request_setting()
{ {
//send setting_frame0 to tag, tag will fill anchor position and ack //send setting_frame0 to tag, tag will fill anchor position and ack
_uart->write((uint8_t)0x54); uart->write((uint8_t)0x54);
_uart->write((uint8_t)0); uart->write((uint8_t)0);
_uart->write((uint8_t)1); uart->write((uint8_t)1);
for (uint8_t i = 0; i < 124; i++) { for (uint8_t i = 0; i < 124; i++) {
_uart->write((uint8_t)0); //manual states filled with any char, but in fact only 0 works uart->write((uint8_t)0); //manual states filled with any char, but in fact only 0 works
} }
_uart->write((uint8_t)0x55); uart->write((uint8_t)0x55);
} }
// process one byte received on serial port // process one byte received on serial port

1
libraries/AP_Beacon/AP_Beacon_Nooploop.h
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@ -48,7 +48,6 @@ private:
} _state = ParseState::HEADER; } _state = ParseState::HEADER;
// members // members
AP_HAL::UARTDriver *_uart; // pointer to uart configured for use with nooploop
uint8_t _msgbuf[NOOPLOOP_MSG_BUF_MAX]; // buffer to hold most recent message from tag uint8_t _msgbuf[NOOPLOOP_MSG_BUF_MAX]; // buffer to hold most recent message from tag
uint16_t _msg_len; // number of bytes received from the current message (may be larger than size of _msgbuf) uint16_t _msg_len; // number of bytes received from the current message (may be larger than size of _msgbuf)
uint16_t _frame_len; // message supplied frame length uint16_t _frame_len; // message supplied frame length