[paparazzi-commits] [5118] remove beth_hack, add rx event flag, and prototype in header

[Paul Cox]

Revision: 5118
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5118
Author:   paulcox
Date:     2010-07-22 12:35:37 +0000 (Thu, 22 Jul 2010)
Log Message:
-----------
remove beth_hack, add rx event flag, and prototype in header

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/stm32/can_hw.c
    paparazzi3/trunk/sw/airborne/stm32/can_hw.h

Modified: paparazzi3/trunk/sw/airborne/stm32/can_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.c 2010-07-22 12:34:40 UTC (rev 
5117)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.c 2010-07-22 12:35:37 UTC (rev 
5118)
@@ -44,6 +44,8 @@
 CanRxMsg can_rx_msg;
 RCC_ClocksTypeDef rcc_clocks;
 
+volatile uint8_t CAN_RX_FLAG;
+
 void can_hw_init(void)
 {
        GPIO_InitTypeDef gpio;
@@ -138,17 +140,17 @@
        return 0;
 }
 
-#ifdef BETH_HACK
-uint16_t halfw1,halfw2,halfw3,halfw4,tempid;
-#endif
 
 void usb_lp_can1_rx0_irq_handler(void)
 {
        CAN_Receive(CAN1, CAN_FIFO0, &can_rx_msg);
+       //set CAN receive event flag
+       CAN_RX_FLAG = 1;
+       LED_TOGGLE(5);
 
 #ifdef BLINKENLIGHTS
 //code piotr used to show receive activity
-       //LED_TOGGLE(1);
+       
        if((can_rx_msg.Data[0] & 0x01) == 0x01){
                LED_ON(4);
        }else{
@@ -169,20 +171,5 @@
        }else{
                LED_OFF(7);
        }
-#endif
-
-#ifdef BETH_HACK
-       tempid = (uint16_t)(can_rx_msg.ExtId>>7);
-       if (tempid == 2) {
-               halfw2 = can_rx_msg.Data[3];
-               halfw2 = (halfw2<<8) + can_rx_msg.Data[2];
-               halfw1 = can_rx_msg.Data[1];
-               halfw1 = (halfw1<<8) + can_rx_msg.Data[0];
-       } else {
-               halfw4 = can_rx_msg.Data[3];
-               halfw4 = (halfw4<<8) + can_rx_msg.Data[2];
-               halfw3 = can_rx_msg.Data[1];
-               halfw3 = (halfw3<<8) + can_rx_msg.Data[0];
-       }
-#endif
+#endif 
 }

Modified: paparazzi3/trunk/sw/airborne/stm32/can_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.h 2010-07-22 12:34:40 UTC (rev 
5117)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.h 2010-07-22 12:35:37 UTC (rev 
5118)
@@ -26,6 +26,7 @@
 #define CAN_HW_H
 
 void can_hw_init(void);
+void usb_lp_can1_rx0_irq_handler(void);
 int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len);
 
 #endif /* CAN_HW_H */