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AP_BLHeli: Remove duplicated code, use existing AP_Math CRC function

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Dr.-Ing. Amilcar do Carmo Lucas 2021-03-08 19:04:45 +01:00 committed by Andrew Tridgell
parent f3cc661ebd
commit 0dbd05505b
2 changed files with 1 additions and 17 deletions
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17
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1403,21 +1403,6 @@ void AP_BLHeli::init(void)
} }
} }
/*
implement the 8 bit CRC used by the BLHeli ESC telemetry protocol
*/
uint8_t AP_BLHeli::telem_crc8(uint8_t crc, uint8_t crc_seed) const
{
uint8_t crc_u = crc;
crc_u ^= crc_seed;
for (uint8_t i=0; i<8; i++) {
crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
}
return crc_u;
}
/* /*
read an ESC telemetry packet read an ESC telemetry packet
*/ */
@ -1432,7 +1417,7 @@ void AP_BLHeli::read_telemetry_packet(void)
// calculate crc // calculate crc
uint8_t crc = 0; uint8_t crc = 0;
for (uint8_t i=0; i<telem_packet_size-1; i++) { for (uint8_t i=0; i<telem_packet_size-1; i++) {
crc = telem_crc8(buf[i], crc); crc = crc8_dvb(buf[i], crc, 0x07);
} }
if (buf[telem_packet_size-1] != crc) { if (buf[telem_packet_size-1] != crc) {

1
libraries/AP_BLHeli/AP_BLHeli.h
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@ -285,7 +285,6 @@ private:
bool BL_VerifyFlash(const uint8_t *buf, uint16_t n); bool BL_VerifyFlash(const uint8_t *buf, uint16_t n);
void blheli_process_command(void); void blheli_process_command(void);
void run_connection_test(uint8_t chan); void run_connection_test(uint8_t chan);
uint8_t telem_crc8(uint8_t crc, uint8_t crc_seed) const;
void read_telemetry_packet(void); void read_telemetry_packet(void);
void log_bidir_telemetry(void); void log_bidir_telemetry(void);