[sbus] code cleaning and comments

paparazzi · Jul 23, 2013 · f9be3ce · f9be3ce
1 parent 8fa5406
commit f9be3ce
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Showing 2 changed files with 10 additions and 12 deletions.
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
@@ -41,11 +41,8 @@
 
 void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
 
-  /* Configure USART */
+  /* Configure USART baudrate */
   usart_set_baudrate((uint32_t)p->reg_addr, baud);
-  //usart_set_databits((uint32_t)p->reg_addr, 8);
-  //usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_1);
-  //usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_NONE);
 
   /* Disable Idle Line interrupt */
   USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_IDLEIE;
@@ -62,6 +59,7 @@ void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
 }
 
 void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t bits, uint8_t stop, uint8_t parity) {
+  /* Configure USART parity and data bits */
   if (parity == UPARITY_EVEN) {
     usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_EVEN);
     if (bits == UBITS_7)
@@ -80,6 +78,7 @@ void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t bits, uint8
     usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_NONE);
     usart_set_databits((uint32_t)p->reg_addr, 8); // is 7bits without parity possible ?
   }
+  /* Configure USART stop bits */
   if (stop == USTOP_2)
     usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_2);
   else // 1 stop bit by default

diff --git a/sw/airborne/subsystems/radio_control/sbus.h b/sw/airborne/subsystems/radio_control/sbus.h
@@ -29,13 +29,6 @@
 
 #include "std.h"
 
-///**
-// * Architecture dependant code
-// */
-//#include "subsystems/radio_control/ppm_arch.h"
-///* must be implemented by arch dependant code */
-//extern void ppm_arch_init(void);
-
 /**
  * Dummy macro to use radio.h file
  */
@@ -50,7 +43,13 @@
 #include "generated/radio.h"
 
 /**
- * Define number of channels
+ * Define number of channels.
+ *
+ * SBUS frame always have 16 channels
+ * but only the X first one will be available
+ * depending of the RC transmitter.
+ * The radio XML file is used to assign the
+ * input values to RC channels.
  */
 #define SBUS_BUF_LENGTH 24
 #define SBUS_NB_CHANNEL 16