david.tahir/QuadMeUp_Crossbow
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another small refactoring

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-10-07 19:06:07 +02:00
parent 022f186175
commit 01836b8657
3 changed files with 22 additions and 22 deletions
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2
crossbow.ino
View File

@@ -231,7 +231,7 @@ void loop(void)
/*
* RC_DATA QSP frame
*/
if (currentMillis - lastRcFrameTransmit > TX_RC_FRAME_RATE && !transmitPayload && qsp.protocolState == IDLE)
if (currentMillis - lastRcFrameTransmit > TX_RC_FRAME_RATE && !transmitPayload && qsp.protocolState == QSP_STATE_IDLE)
{
lastRcFrameTransmit = currentMillis;

26
qsp.cpp
View File

@@ -128,18 +128,18 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
static uint8_t receivedPayload;
static uint8_t packetId; //TODO move this to global scope maybe?
if (qsp->protocolState == IDLE && incomingByte == QSP_PREAMBLE)
if (qsp->protocolState == QSP_STATE_IDLE && incomingByte == QSP_PREAMBLE)
{
//If in IDLE and correct preamble comes, start to decode frame
qsp->protocolState = PREAMBLE_RECEIVED;
qsp->protocolState = QSP_STATE_PREAMBLE_RECEIVED;
qsp->crc = 0 ^ incomingByte;
}
else if (qsp->protocolState == PREAMBLE_RECEIVED)
else if (qsp->protocolState == QSP_STATE_PREAMBLE_RECEIVED)
{
// Check if incomming channel ID is the same as receiver
if (incomingByte == CHANNEL_ID)
{
qsp->protocolState = CHANNEL_RECEIVED;
qsp->protocolState = QSP_STATE_CHANNEL_RECEIVED;
qsp->crc ^= incomingByte;
qspClearPayload(qsp);
@@ -149,10 +149,10 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
}
else
{
qsp->protocolState = IDLE;
qsp->protocolState = QSP_STATE_IDLE;
}
}
else if (qsp->protocolState == CHANNEL_RECEIVED)
else if (qsp->protocolState == QSP_STATE_CHANNEL_RECEIVED)
{
//Frame ID and payload length
qsp->crc ^= incomingByte;
@@ -160,15 +160,15 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
frameId = (incomingByte >> 4) & 0x0f;
payloadLength = incomingByte & 0x0f;
qsp->protocolState = FRAME_TYPE_RECEIVED;
qsp->protocolState = QSP_STATE_FRAME_TYPE_RECEIVED;
}
else if (qsp->protocolState == FRAME_TYPE_RECEIVED)
else if (qsp->protocolState == QSP_STATE_FRAME_TYPE_RECEIVED)
{
qsp->crc ^= incomingByte;
packetId = incomingByte;
qsp->protocolState = PACKET_ID_RECEIVED;
qsp->protocolState = QSP_STATE_PACKET_ID_RECEIVED;
}
else if (qsp->protocolState == PACKET_ID_RECEIVED)
else if (qsp->protocolState == QSP_STATE_PACKET_ID_RECEIVED)
{
//Now it's time for payload
@@ -179,11 +179,11 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
if (receivedPayload == payloadLength)
{
qsp->protocolState = PAYLOAD_RECEIVED;
qsp->protocolState = QSP_STATE_PAYLOAD_RECEIVED;
qsp->payloadLength = payloadLength;
}
}
else if (qsp->protocolState == PAYLOAD_RECEIVED)
else if (qsp->protocolState == QSP_STATE_PAYLOAD_RECEIVED)
{
if (qsp->crc == incomingByte) {
@@ -213,7 +213,7 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
}
// In both cases switch to listening for next preamble
qsp->protocolState = IDLE;
qsp->protocolState = QSP_STATE_IDLE;
}
}

16
variables.h
View File

@@ -18,13 +18,13 @@
#define PIN_LED 13
enum dataStates {
IDLE,
PREAMBLE_RECEIVED,
CHANNEL_RECEIVED,
FRAME_TYPE_RECEIVED,
PACKET_ID_RECEIVED,
PAYLOAD_RECEIVED,
CRC_RECEIVED
QSP_STATE_IDLE,
QSP_STATE_PREAMBLE_RECEIVED,
QSP_STATE_CHANNEL_RECEIVED,
QSP_STATE_FRAME_TYPE_RECEIVED,
QSP_STATE_PACKET_ID_RECEIVED,
QSP_STATE_PAYLOAD_RECEIVED,
QSP_STATE_CRC_RECEIVED
};
#define PPM_INPUT_PIN 2
@@ -37,7 +37,7 @@ enum dataStates {
#define PPM_OUTPUT_PIN 10 //set PPM signal output pin on the arduino
struct QspConfiguration_t {
uint8_t protocolState = IDLE;
uint8_t protocolState = QSP_STATE_IDLE;
uint8_t crc = 0;
uint8_t payload[QSP_PAYLOAD_LENGTH] = {0};
uint8_t payloadLength = 0;