void InterMcuEvent(void (*frame_handler)(void))
{
uint8_t i, c;
// Check if there are messages in the device
if (intermcu.device->char_available(intermcu.device->periph)) {
while (intermcu.device->char_available(intermcu.device->periph) && !intermcu.transport.trans_rx.msg_received) {
c = intermcu.device->get_byte(intermcu.device->periph);
parse_pprz(&intermcu.transport, c);
#ifdef BOARD_PX4IO
// TODO: create a hook
checkPx4RebootCommand(c);
#endif
}
// If we have a message copy it
if (intermcu.transport.trans_rx.msg_received) {
for (i = 0; i < intermcu.transport.trans_rx.payload_len; i++) {
imcu_msg_buf[i] = intermcu.transport.trans_rx.payload[i];
}
intermcu.msg_available = true;
intermcu.transport.trans_rx.msg_received = false;
}
}
if (intermcu.msg_available) {
intermcu_parse_msg(frame_handler);
intermcu.msg_available = false;
}
}
void InterMcuEvent(void (*frame_handler)(void))
{
/* Parse incoming bytes */
if (intermcu_device->char_available(intermcu_device->periph)) {
while (intermcu_device->char_available(intermcu_device->periph) && !intermcu_transport.trans_rx.msg_received) {
unsigned char b = intermcu_device->get_byte(intermcu_device->periph);
#ifdef BOARD_PX4IO
checkPx4RebootCommand(b);
#endif
parse_pprz(&intermcu_transport, b);
}
if (intermcu_transport.trans_rx.msg_received) {
intermcu_parse_msg(&(intermcu_transport.trans_rx), frame_handler);
}
}
}
