Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

C99 and C++ Cleanup #1

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

C99 and C++ Cleanup #1

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
75 changes: 47 additions & 28 deletions Source/spm_srxl.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -80,19 +80,21 @@ SrxlVtxData srxlVtxData = {0, 0, 1, 0, 0, 1};

/// LOCAL VARIABLES ///

SrxlDevice srxlThisDev = {0};
SrxlBus srxlBus[SRXL_NUM_OF_BUSES];
bool srxlChDataIsFailsafe = false;
bool srxlTelemetryPhase = false;
uint32_t srxlFailsafeChMask = 0; // Tracks all active channels for use during failsafe transmission
SrxlBindData srxlBindInfo = {0, 0, 0, 0};
SrxlReceiverStats srxlRx = {0};
uint16_t srxlTelemSuppressCount = 0;
static SrxlDevice srxlThisDev = {0};
static SrxlBus srxlBus[SRXL_NUM_OF_BUSES];
static bool srxlChDataIsFailsafe = false;
static bool srxlTelemetryPhase = false;
#ifdef SRXL_INCLUDE_MASTER_CODE
static uint32_t srxlFailsafeChMask = 0; // Tracks all active channels for use during failsafe transmission
#endif
static SrxlBindData srxlBindInfo = {0, 0, 0, 0};
static SrxlReceiverStats srxlRx = {0};
static uint16_t srxlTelemSuppressCount = 0;

#ifdef SRXL_INCLUDE_FWD_PGM_CODE
SrxlFullID srxlFwdPgmDevice = {0, 0}; // Device that should accept Forward Programming connection by default
uint8_t srxlFwdPgmBuffer[FWD_PGM_MAX_DATA_SIZE] = {0};
uint8_t srxlFwdPgmBufferLength = 0;
static SrxlFullID srxlFwdPgmDevice = {0, 0}; // Device that should accept Forward Programming connection by default
static uint8_t srxlFwdPgmBuffer[FWD_PGM_MAX_DATA_SIZE] = {0};
static uint8_t srxlFwdPgmBufferLength = 0;
#endif

// Include additional header and externs if using STM32 hardware acceleration
Expand Down Expand Up @@ -185,9 +187,12 @@ static uint16_t srxlCrc16(uint8_t* packet)
// Output Data Inversion Mode = Disable
// Input Data Format = Bytes
crc = (uint16_t)HAL_CRC_Calculate(&hcrc, (uint32_t*)packet, length);
#elif(SRXL_CRC_OPTIMIZE_MODE == SRXL_CRC_OPTIMIZE_EXTERNAL)
crc = SRXL_CRC_CALCULATE(packet, length, crc);
#else
// Default to table-lookup method
for(uint8_t i = 0; i < length; ++i)
uint8_t i;
for(i = 0; i < length; ++i)
{
// Get indexed position in lookup table using XOR of current CRC hi byte
uint8_t pos = (uint8_t)((crc >> 8) ^ packet[i]);
Expand All @@ -203,7 +208,8 @@ static uint16_t srxlCrc16(uint8_t* packet)
static inline SrxlRcvrEntry* srxlGetReceiverEntry(uint8_t busIndex, uint8_t deviceID)
{
SrxlRcvrEntry* pRcvr = 0;
for(uint8_t i = 0; i < srxlRx.rcvrCount; ++i)
uint8_t i;
for(i = 0; i < srxlRx.rcvrCount; ++i)
{
if((srxlRx.rcvr[i].busBits & (1u << busIndex)) && (srxlRx.rcvr[i].deviceID == deviceID))
{
Expand Down Expand Up @@ -237,7 +243,8 @@ static inline SrxlRcvrEntry* srxlAddReceiverEntry(SrxlBus* pBus, SrxlDevEntry de
// If this receiver is full-range, insert into our sorted list after the other full-range telemetry receivers
if(pRcvr->info & SRXL_DEVINFO_TELEM_FULL_RANGE)
{
for(uint8_t n = i; n > srxlRx.rcvrSortInsert; --n)
uint8_t n;
for(n = i; n > srxlRx.rcvrSortInsert; --n)
srxlRx.rcvrSorted[n] = srxlRx.rcvrSorted[n - 1];
srxlRx.rcvrSorted[(srxlRx.rcvrSortInsert)++] = pRcvr;
}
Expand Down Expand Up @@ -271,7 +278,8 @@ static inline SrxlRcvrEntry* srxlChooseTelemRcvr(void)
if((srxlRx.pTelemRcvr->info & SRXL_DEVINFO_TELEM_FULL_RANGE) == 0)
{
// Then see if there is a full-range choice that received channel data to switch to
for(uint8_t i = 0; i < srxlRx.rcvrSortInsert; ++i)
uint8_t i;
for(i = 0; i < srxlRx.rcvrSortInsert; ++i)
{
if(srxlRx.rcvrSorted[i]->channelMask)
return srxlRx.rcvrSorted[i];
Expand All @@ -284,7 +292,8 @@ static inline SrxlRcvrEntry* srxlChooseTelemRcvr(void)
// Else just pick the first one that got channel data this past frame
else
{
for(uint8_t i = 0; i < srxlRx.rcvrCount; ++i)
uint8_t i;
for(i = 0; i < srxlRx.rcvrCount; ++i)
{
if(srxlRx.rcvrSorted[i]->channelMask)
return srxlRx.rcvrSorted[i];
Expand All @@ -295,11 +304,12 @@ static inline SrxlRcvrEntry* srxlChooseTelemRcvr(void)
}

// Return pointer to device entry matching the given ID, or NULL if not found
SrxlDevEntry* srxlGetDeviceEntry(SrxlBus* pBus, uint8_t deviceID)
static SrxlDevEntry* srxlGetDeviceEntry(SrxlBus* pBus, uint8_t deviceID)
{
if(pBus)
{
for(uint8_t i = 0; i < pBus->rxDevCount; ++i)
uint8_t i;
for(i = 0; i < pBus->rxDevCount; ++i)
{
if(pBus->rxDev[i].deviceID == deviceID)
return &(pBus->rxDev[i]);
Expand All @@ -309,7 +319,7 @@ SrxlDevEntry* srxlGetDeviceEntry(SrxlBus* pBus, uint8_t deviceID)
}

// Add an entry to our list of devices found on the SRXL bus (or update an entry if it already exists)
SrxlDevEntry* srxlAddDeviceEntry(SrxlBus* pBus, SrxlDevEntry devEntry)
static SrxlDevEntry* srxlAddDeviceEntry(SrxlBus* pBus, SrxlDevEntry devEntry)
{
// Don't allow broadcast or unknown device types to be added
if(!pBus || devEntry.deviceID < 0x10 || devEntry.deviceID > 0xEF)
Expand Down Expand Up @@ -477,7 +487,7 @@ uint8_t srxlGetDeviceID(uint8_t busIndex)
@param srxlCmd: Specific type of packet to send
@param replyID: Device ID of the device this Send command is targeting
*/
void srxlSend(SrxlBus* pBus, SRXL_CMD srxlCmd, uint8_t replyID)
static void srxlSend(SrxlBus* pBus, SRXL_CMD srxlCmd, uint8_t replyID)
{
if(!pBus || !pBus->initialized)
return;
Expand Down Expand Up @@ -763,7 +773,8 @@ bool srxlParsePacket(uint8_t busIndex, uint8_t* packet, uint8_t length)
{
uint8_t channelIndex = 0;
uint32_t channelMaskBit = 1;
for(uint8_t i = 0; i < 32 && channelMaskBit <= pCtrlData->channelData.mask; ++i, channelMaskBit <<= 1)
uint8_t i;
for(i = 0; i < 32 && channelMaskBit <= pCtrlData->channelData.mask; ++i, channelMaskBit <<= 1)
{
if(pCtrlData->channelData.mask & channelMaskBit)
{
Expand Down Expand Up @@ -829,7 +840,7 @@ bool srxlParsePacket(uint8_t busIndex, uint8_t* packet, uint8_t length)

// Add this device to our list of discovered devices
SrxlDevEntry newDev = {.deviceID = pHandshake->srcDevID, .priority = pHandshake->priority, .info = pHandshake->info};
SrxlDevEntry* pDev = srxlAddDeviceEntry(pBus, newDev);
srxlAddDeviceEntry(pBus, newDev);

// Bus master needs to track responses and poll next device
if(pBus->master)
Expand Down Expand Up @@ -898,7 +909,9 @@ bool srxlParsePacket(uint8_t busIndex, uint8_t* packet, uint8_t length)
if(pBindInfo->request == SRXL_BIND_REQ_BOUND_DATA)
{
// Call the user-defined callback -- if returns true, bind all other receivers
SrxlFullID boundID = {.deviceID = pBindInfo->deviceID, .busIndex = busIndex};
SrxlFullID boundID;
boundID.deviceID = pBindInfo->deviceID;
boundID.busIndex = busIndex;
if(srxlOnBind(boundID, pBindInfo->data))
{
// Update the bind info
Expand All @@ -914,7 +927,8 @@ bool srxlParsePacket(uint8_t busIndex, uint8_t* packet, uint8_t length)
srxlBindInfo.uid = pBindInfo->data.uid;

// Try to set bind info for all other receivers on other buses to match it
for(uint8_t b = 0; b < SRXL_NUM_OF_BUSES; ++b)
uint8_t b;
for(b = 0; b < SRXL_NUM_OF_BUSES; ++b)
{
if(b == busIndex)
continue;
Expand Down Expand Up @@ -1169,7 +1183,8 @@ bool srxlEnterBind(uint8_t bindType, bool broadcast)
srxlTryToBind(srxlBindInfo);
if(broadcast)
{
for(uint8_t b = 0; b < SRXL_NUM_OF_BUSES; ++b)
uint8_t b;
for(b = 0; b < SRXL_NUM_OF_BUSES; ++b)
{
srxlBus[b].txFlags.enterBind = 1;
}
Expand All @@ -1179,7 +1194,8 @@ bool srxlEnterBind(uint8_t bindType, bool broadcast)
#endif // SRXL_INCLUDE_MASTER_CODE

// Remote bind
for(uint8_t i = 0; i < SRXL_NUM_OF_BUSES; ++i)
uint8_t i;
for(i = 0; i < SRXL_NUM_OF_BUSES; ++i)
{
if((1u << i) & srxlRx.pBindRcvr->busBits)
{
Expand Down Expand Up @@ -1221,7 +1237,8 @@ bool srxlSetBindInfo(uint8_t bindType, uint64_t guid, uint32_t uid)
#endif

// Broadcast this bind info on all SRXL buses
for(uint8_t b = 0; b < SRXL_NUM_OF_BUSES; ++b)
uint8_t b;
for(b = 0; b < SRXL_NUM_OF_BUSES; ++b)
{
srxlBus[b].txFlags.broadcastBindInfo = 1;
}
Expand Down Expand Up @@ -1264,6 +1281,7 @@ void srxlOnFrameError(uint8_t busIndex)
pBus->baudRate = SRXL_BAUD_400000;
break;
}
FALLTHROUGH;
// else fall thru...
}
case SRXL_BAUD_400000:
Expand Down Expand Up @@ -1314,7 +1332,8 @@ bool srxlSetVtxData(SrxlVtxData* pVtxData)
if(pVtxData->region != 0xFF)
srxlVtxData.region = pVtxData->region;

for(uint8_t b = 0; b < SRXL_NUM_OF_BUSES; ++b)
uint8_t b;
for(b = 0; b < SRXL_NUM_OF_BUSES; ++b)
{
srxlBus[b].txFlags.sendVtxData = 1;
}
Expand Down
12 changes: 9 additions & 3 deletions Source/spm_srxl.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,7 @@ static const uint8_t SRXL_DEFAULT_ID_OF_TYPE[16] =
};

// Set SRXL_CRC_OPTIMIZE_MODE in spm_srxl_config.h to one of the following values
#define SRXL_CRC_OPTIMIZE_EXTERNAL (0) // Uses an external function defined by SRXL_CRC_EXTERNAL_FN for CRC
#define SRXL_CRC_OPTIMIZE_SPEED (1) // Uses table lookup for CRC computation (requires 512 const bytes for CRC table)
#define SRXL_CRC_OPTIMIZE_SIZE (2) // Uses bitwise operations
#define SRXL_CRC_OPTIMIZE_STM_HW (3) // Uses STM32 register-level hardware acceleration (only available on STM32F30x devices for now)
Expand Down Expand Up @@ -200,15 +201,18 @@ typedef enum

// Enable byte packing for all structs defined here!
#ifdef PACKED
#error "preprocessor definition PACKED is already defined -- this could be bad"
#endif
#ifdef __GNUC__
#define SRXL_EXTERNAL_PACKED
#elif defined(__GNUC__)
#define PACKED __attribute__((packed))
#else
#pragma pack(push, 1)
#define PACKED
#endif

#ifndef FALLTHROUGH
#define FALLTHROUGH
#endif

// Spektrum SRXL header
typedef struct SrxlHeader
{
Expand Down Expand Up @@ -372,10 +376,12 @@ typedef union
} PACKED SrxlFullID;

// Restore packing back to default
#ifndef SRXL_EXTERNAL_PACKED
#undef PACKED
#ifndef __GNUC__
#pragma pack(pop)
#endif
#endif

// Global vars
extern SrxlChannelData srxlChData;
Expand Down