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Heartbeat implementation

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This commit is contained in:
Lennart Eriksson 2016-11-29 09:28:43 +01:00
parent 3200feaa26
commit ad58ecee85
1 changed files with 37 additions and 0 deletions
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37
UAV-ControlSystem/src/drivers/arduino_com.c
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@ -161,6 +161,14 @@ arduino_data_t find_packet_from_header(uint8_t header)
}
#define BYTE1_32BITS_VALUE(x) ((x & 0xFF000000) >> 24)
#define BYTE2_32BITS_VALUE(x) ((x & 0x00FF0000) >> 16)
#define BYTE3_32BITS_VALUE(x) ((x & 0x0000FF00) >> 8)
#define BYTE4_32BITS_VALUE(x) ((x & 0x000000FF) >> 0)
const uint32_t heartbeat_msg = 0xDEADBEEF;
const uint32_t heartbeat_rsp = 0xBA1DFACE;
/***********************************************************************
* BRIEF: A function that parses the message byte per byte and then
* if it was wrong it will do recursive call and parse the rest
@ -175,6 +183,35 @@ void arduino_parse_message(uint8_t data)
static uint8_t secondary_message_it = 0;
static arduino_data_t msg_header_and_size = { .size = 0, .dataPtr = NULL };
static uint8_t crc = 0;
static uint8_t heartbeatiterator = 0;
if (heartbeatiterator == 0 && data == BYTE1_32BITS_VALUE(heartbeat_msg))
heartbeatiterator = 1;
if (heartbeatiterator > 0)
{
switch (heartbeatiterator)
{
case 1:
heartbeatiterator = 2;
break;
case 2:
heartbeatiterator = (data == BYTE2_32BITS_VALUE(heartbeat_msg)) ? 3 : 0;
break;
case 3:
heartbeatiterator = (data == BYTE3_32BITS_VALUE(heartbeat_msg)) ? 4 : 0;
break;
case 4:
heartbeatiterator = 0;
if(data == BYTE4_32BITS_VALUE(heartbeat_msg))
{
usart_transmit(&usartdmaHandler.usart_pro, (uint8_t *) &heartbeat_rsp, 4, 10000);
}
break;
default:
break;
}
}
if(find_header)
{