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fix byte stuffing typo and add comments

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This commit is contained in:
Mark Whitehorn
2016-01-24 11:22:18 +01:00
committed by Lorenz Meier
parent 8949a88f25
commit 82bb0564e2
2 changed files with 34 additions and 13 deletions
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src/drivers/sPort_telemetry/sPort_data.c
+10 -4
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@@ -131,11 +131,11 @@ static void sPort_send_byte(int uart, uint8_t value)
const uint8_t x7D[] = { 0x7D, 0x5D };
switch (value) {
case 0x5E:
case 0x7E:
write(uart, x7E, sizeof(x7E));
break;
case 0x5D:
case 0x7D:
write(uart, x7D, sizeof(x7D));
break;
@@ -187,9 +187,15 @@ void sPort_send_A2(int uart)
memset(&battery, 0, sizeof(battery));
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
/* get a local copy of the vehicle status data */
struct vehicle_status_s vehicle_status;
memset(&vehicle_status, 0, sizeof(vehicle_status));
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
/* send data for A2 */
// uint32_t voltage = (int)(255 * battery.voltage_v / 18.4f);
uint32_t voltage = (int)(255 * 5.5f / 18.4f);
uint32_t voltage = (int)(255 * vehicle_status.battery_voltage / 16.8f);
// static uint8_t counter=0;
// uint32_t voltage = counter++;
sPort_send_data(uart, 0xf103, voltage);
}