Diff: soes.cpp

Revision:

25:829af6f3429f

Parent:

24:fa1c5af49650

Child:

26:c7959f1fd09a

--- a/soes.cpp	Fri Mar 06 11:17:33 2015 +0000
+++ b/soes.cpp	Sun Mar 08 21:15:47 2015 +0000
@@ -60,16 +60,14 @@
 uint8           TXPDOsize,RXPDOsize;
 uint16          wd_ok = 1, wd_cnt = wd_reset;
 
-uint8_t copy_new_data = 0;
-uint8_t copydata;
-
+_Rbuffer local_Rb; //to prevent issues when updating
 DigitalOut led(LED_PIN);
 DigitalOut et1100_ss(ET1100_SS);
 DigitalIn  et1100_miso(ET1100_MISO);
 SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK);
 MODSERIAL xbus_serial(PTC4,PTC3);
 xbus_t xbus_master;
-//MODSERIAL pc(USBTX,USBRX);
+MODSERIAL pc(USBTX,USBRX);
 
 DigitalOut ploep(PTA13);
 #define PLOEP do{ploep = !(ploep);}while(0);
@@ -160,14 +158,14 @@
     }
   if (APPstate) //input or output enabled
     {	
-        Rb.timestamp = ESCvar.Time;
+        //Rb.timestamp = ESCvar.Time;
         //just some dummy data to test
         //Rb.counter++;
         //Rb.diginput = diginput;
         //Rb.analog[0] = 1;
         //Rb.analog[1] = 2;
  
-
+		memcpy(&Rb, &local_Rb, sizeof(Rb));
         TXPDO_update();
     } 
 }
@@ -185,6 +183,7 @@
 
 int main(void)
 {
+
     /*!< At this stage the microcontroller clock setting is already configured,
          this is done through SystemInit() function which is called from startup
          file (startup_stm32f0xx.s) before to branch to application main.
@@ -208,7 +207,8 @@
     ESC_stopmbx();
     ESC_stopinput();
     ESC_stopoutput();
-
+	
+//	pc.baud(115200);
 // application run loop
     while (1)
     {
@@ -220,9 +220,9 @@
         	{
         		if(xbus_master.rx.buffer[2] == 0x32)
         		{
-        			memcpy_byteswap((uint8_t *)&Rb.first.acc[0],&xbus_master.rx.buffer[6],60);
-        			memcpy_byteswap((uint8_t *)&Rb.timestamp, &xbus_master.rx.buffer[4],2);
-        			//pc.printf("%u , %u\n", Rb.first.acc[0] , *((uint16_t *)(&xbus_master.rx.buffer[6])) );
+        			memcpy_byteswap((uint8_t *)&local_Rb.timestamp   ,&xbus_master.rx.buffer[4], 2);
+        			memcpy_byteswap((uint8_t *)&local_Rb.first.acc[0],&xbus_master.rx.buffer[6],60);
+        			//pc.printf("%x %x\n",Rb.timestamp, *((uint16_t *)(&xbus_master.rx.buffer[4])));
         		}
         		xbus_master.rx.checksum_ok = 0;
         	}