void MavSerialPort::uartRead(QByteArray* ba){
unsigned char *buf;
buf = (unsigned char*)ba->data();
//kernel part of the code
for(int i = 0 ; i < ba->size(); i++){
//does it matter if i change it to COMM_0 ?
msgReceived = mavlink_parse_char(MAVLINK_COMM_1, buf[i], &message, &status);
if(msgReceived){
uartDecode(message);
msgReceived = false;
}
}
}
void USART1_IRQHandler(void)
{
static u16 receiveCounter = 0;
static u8 temp,flagStart = 0;
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
{
USART_ClearITPendingBit(USART1,USART_IT_RXNE);
temp = USART_ReceiveData(USART1);
if(flagStart == 1)
{
receiveBuffer[receiveCounter] = temp;
receiveCounter ++;
if(receiveCounter == receiveBuffer[3])
{
flagStart = 0;
receiveCounter = 0;
uartDecode();
}
/* 最长的报文长度为12 */
else if (receiveCounter > 12)
{
receiveCounter = 0;
flagStart = 0;
}
}
else if(temp == 0x7f)
{
flagStart = 1;
receiveBuffer[receiveCounter] = temp;
receiveCounter ++;
}
}
}