[paparazzi-commits] [5285] fixing crc computation on spi link

[antoine drouin]

Revision: 5285
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5285
Author:   poine
Date:     2010-08-09 22:18:37 +0000 (Mon, 09 Aug 2010)
Log Message:
-----------
fixing crc computation on spi link

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
    paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c
    paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.c
    paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.h

Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-08-09 
20:04:47 UTC (rev 5284)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-08-09 
22:18:37 UTC (rev 5285)
@@ -4,6 +4,7 @@
 #include <inttypes.h>
 #include "math/pprz_algebra_int.h"
 #include "airframe.h"
+#include "fms/fms_crc.h"
 
 #define LISA_PWM_OUTPUT_NB 6
 
@@ -61,7 +62,7 @@
  */
 
 /* used to indicate parts of the message which actually represent a new 
measurement */
-struct PTUpValidFlags
+struct __attribute__ ((packed)) PTUpValidFlags
 {
   unsigned rc:1;
   unsigned pressure:1;
@@ -98,5 +99,10 @@
   struct OVERO_LINK_MSG_DOWN msg_down;
 };
 
+struct __attribute__ ((packed)) AutopilotMessageCRCFrame
+{
+  union AutopilotMessage payload; 
+  crc_t crc; 
+}; 
 
 #endif /* FMS_AUTOPILOT_H */

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c     2010-08-09 20:04:47 UTC 
(rev 5284)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c     2010-08-09 22:18:37 UTC 
(rev 5285)
@@ -16,7 +16,7 @@
   spi_link.mode  = SPI_CPHA;
   //  spi_link.mode  = SPI_LSB_FIRST;
   spi_link.bits  = 8;
-  spi_link.speed = 500000;
+  spi_link.speed = 3000000;
   spi_link.delay = 1;
 
   spi_link.fd = open(spi_link.device, O_RDWR);

Modified: 
paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.c     
2010-08-09 20:04:47 UTC (rev 5284)
+++ paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.c     
2010-08-09 22:18:37 UTC (rev 5285)
@@ -104,6 +104,7 @@
   /* Enable DMA1 Channel2 Transfer Complete interrupt */
   DMA_ITConfig(DMA1_Channel2, DMA_IT_TC, ENABLE);
 
+  /* resets CRC module */
   SPI_Cmd(SPI1, DISABLE); 
   SPI_CalculateCRC(SPI1, DISABLE); 
   SPI_CalculateCRC(SPI1, ENABLE); 
@@ -112,18 +113,15 @@
 }
 
 void dma1_c2_irq_handler(void) {
-  DEBUG_S2_ON(); 
+  
+  //  DEBUG_S2_ON(); 
 
   DMA_ITConfig(DMA1_Channel2, DMA_IT_TC, DISABLE);
 
   overo_link.status = DATA_AVAILABLE;
 
-  //    overo_link.status = DATA_AVAILABLE;
-  //  else
-  //    overo_link.status = CRC_ERROR;
+  //  DEBUG_S2_OFF(); 
 
-  DEBUG_S2_OFF(); 
-
   
 }
 

Modified: 
paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.h     
2010-08-09 20:04:47 UTC (rev 5284)
+++ paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_crc_arch.h     
2010-08-09 22:18:37 UTC (rev 5285)
@@ -6,22 +6,23 @@
 
 #define OveroLinkEvent(_data_received_handler, _crc_failed_handler) {  \
     if (overo_link.status == DATA_AVAILABLE) {                         \
-      DEBUG_S1_ON();                                                   \
       overo_link.timeout = 0;                                          \
       while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE)==RESET);    \
-      uint8_t blaaa = SPI_I2S_ReceiveData(SPI1);                       \
-      /*  if((SPI_I2S_GetFlagStatus(SPI1, SPI_FLAG_CRCERR)) == RESET) */\
-      _data_received_handler();                                                
\
+      while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_BSY)==SET);       \
+      uint8_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI1); \
+      if((SPI_I2S_GetFlagStatus(SPI1, SPI_FLAG_CRCERR)) == RESET) {    \
+       LED_TOGGLE(OVERO_LINK_LED_OK);                                  \
+       LED_OFF(OVERO_LINK_LED_KO);                                     \
+       _data_received_handler();                                       \
+      }                                                                        
\
+      else {                                                           \
+       LED_OFF(OVERO_LINK_LED_OK);                                     \
+       LED_ON(OVERO_LINK_LED_KO);                                      \
+       _crc_failed_handler();                                          \
+      }                                                                        
\
       overo_link_arch_prepare_next_transfert(0);                       \
       overo_link.status = IDLE;                                                
\
-      DEBUG_S1_OFF();                                                  \
     }                                                                  \
-    else if(overo_link.status == CRC_ERROR) {                          \
-      _crc_failed_handler();                                           \
-      overo_link_arch_prepare_next_transfert(0);                       \
-      overo_link.status = IDLE;                                                
\
-    }                                                                  \
   }
 
-
 #endif /* LISA_OVERO_LINK_ARCH_H */