static void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void))
{
/* Parse the Inter MCU message */
uint8_t msg_id = trans->payload[1];
switch (msg_id) {
case DL_IMCU_COMMANDS: {
uint8_t i;
uint8_t size = DL_IMCU_COMMANDS_values_length(trans->payload);
int16_t *new_commands = DL_IMCU_COMMANDS_values(trans->payload);
uint8_t status = DL_IMCU_COMMANDS_status(trans->payload);
autopilot_motors_on = status & 0x1;
for (i = 0; i < size; i++) {
intermcu_commands[i] = new_commands[i];
}
inter_mcu.status = INTERMCU_OK;
inter_mcu.time_since_last_frame = 0;
commands_frame_handler();
break;
}
#if defined(SPEKTRUM_HAS_SOFT_BIND_PIN) //TODO: make subscribable module parser
case DL_IMCU_SPEKTRUM_SOFT_BIND:
received_spektrum_soft_bind();
break;
#endif
default:
break;
}
// Set to receive another message
trans->msg_received = FALSE;
}
static void intermcu_parse_msg(void (*commands_frame_handler)(void))
{
/* Parse the Inter MCU message */
uint8_t msg_id = imcu_msg_buf[1];
switch (msg_id) {
case DL_IMCU_COMMANDS: {
uint8_t i;
uint8_t size = DL_IMCU_COMMANDS_values_length(imcu_msg_buf);
int16_t *new_commands = DL_IMCU_COMMANDS_values(imcu_msg_buf);
intermcu.cmd_status |= DL_IMCU_COMMANDS_status(imcu_msg_buf);
// Read the autopilot status and then clear it
autopilot_motors_on = INTERMCU_GET_CMD_STATUS(INTERMCU_CMD_MOTORS_ON);
INTERMCU_CLR_CMD_STATUS(INTERMCU_CMD_MOTORS_ON)
for (i = 0; i < size; i++) {
intermcu_commands[i] = new_commands[i];
}
intermcu.status = INTERMCU_OK;
intermcu.time_since_last_frame = 0;
commands_frame_handler();
break;
}
#if defined(TELEMETRY_INTERMCU_DEV)
case DL_IMCU_TELEMETRY: {
uint8_t id = DL_IMCU_TELEMETRY_msg_id(imcu_msg_buf);
uint8_t size = DL_IMCU_TELEMETRY_msg_length(imcu_msg_buf);
uint8_t *msg = DL_IMCU_TELEMETRY_msg(imcu_msg_buf);
telemetry_intermcu_on_msg(id, msg, size);
break;
}
#endif
#if defined(SPEKTRUM_HAS_SOFT_BIND_PIN) //TODO: make subscribable module parser
case DL_IMCU_SPEKTRUM_SOFT_BIND:
received_spektrum_soft_bind();
break;
#endif
default:
break;
}
}
