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Syslink memory/deck interface

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This commit is contained in:
Dennis Shtatnov
2016-09-16 21:48:10 -04:00
committed by Lorenz Meier
parent 83105fca95
commit 937f3477d3
7 changed files with 338 additions and 13 deletions
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src/modules/syslink/syslink_main.cpp
+13 -9
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@@ -87,7 +87,8 @@ Syslink::Syslink() :
_rssi(RC_INPUT_RSSI_MAX),
_bstate(BAT_DISCHARGING)
{
px4_sem_init(&radio_sem, 0, 0);
px4_sem_init(&memory_sem, 0, 0);
}
@@ -238,6 +239,9 @@ Syslink::task_main()
_bridge = new SyslinkBridge(this);
_bridge->init();
_memory = new SyslinkMemory(this);
_memory->init();
_battery.reset(&_battery_status);
@@ -373,7 +377,7 @@ Syslink::handle_message(syslink_message_t *msg)
_bstate = BAT_CHARGED;
else
_bstate = BAT_DISCHARGING;
// announce the battery status if needed, just publish else
if (_battery_pub != nullptr) {
@@ -386,16 +390,16 @@ Syslink::handle_message(syslink_message_t *msg)
} else if (msg->type == SYSLINK_RADIO_RSSI) {
uint8_t rssi = msg->data[0]; // Between 40 and 100 meaning -40 dBm to -100 dBm
_rssi = 140 - rssi * 100 / (100 - 40);
} else if (msg->type == SYSLINK_RADIO_CHANNEL) {
PX4_INFO("Channel ACK %d", msg->data[0]);
} else if (msg->type == SYSLINK_RADIO_DATARATE) {
PX4_INFO("Datarate ACK %d", msg->data[0]);
} else if (msg->type == SYSLINK_RADIO_RAW) {
handle_raw(msg);
lastrxtime = t;
} else if ((msg->type & SYSLINK_GROUP) == SYSLINK_RADIO) {
radio_msg = *msg;
px4_sem_post(&radio_sem);
} else if ((msg->type & SYSLINK_GROUP) == SYSLINK_OW) {
_memory->msgbuf = *msg;
px4_sem_post(&memory_sem);
} else {
PX4_INFO("GOT %d", msg->type);
}