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AP_Frsky_Telem: tidy parsers and splitting of statustexts

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yaapu 2020-10-01 11:36:23 +10:00 committed by Andrew Tridgell
parent 6abf4ec2b5
commit 33f19eec27
2 changed files with 5 additions and 17 deletions
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8
libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
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@ -10,13 +10,7 @@
*/
void AP_Frsky_SPort::send(void)
{
int16_t numc;
numc = _port->available();
// check if available is negative
if (numc < 0) {
return;
}
const uint16_t numc = MIN(_port->available(), 1024U);
// this is the constant for hub data frame
if (_port->txspace() < 19) {

14
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
View File

@ -194,13 +194,7 @@ void AP_Frsky_SPort_Passthrough::process_packet(uint8_t idx)
*/
void AP_Frsky_SPort_Passthrough::send(void)
{
int16_t numc;
numc = _port->available();
// check if available is negative
if (numc < 0) {
return;
}
const uint16_t numc = MIN(_port->available(), 1024U);
// this is the constant for hub data frame
if (_port->txspace() < 19) {
@ -208,7 +202,7 @@ void AP_Frsky_SPort_Passthrough::send(void)
}
// keep only the last two bytes of the data found in the serial buffer, as we shouldn't respond to old poll requests
uint8_t prev_byte = 0;
for (int16_t i = 0; i < numc; i++) {
for (uint16_t i = 0; i < numc; i++) {
prev_byte = _passthrough.new_byte;
_passthrough.new_byte = _port->read();
}
@ -237,14 +231,14 @@ bool AP_Frsky_SPort_Passthrough::get_next_msg_chunk(void)
uint8_t character = 0;
_msg_chunk.chunk = 0; // clear the 4 bytes of the chunk buffer
for (int i = 3; i > -1 && _msg_chunk.char_index < sizeof(_statustext.next.text); i--) {
for (uint8_t i = 0; i < 4 && _msg_chunk.char_index < sizeof(_statustext.next.text); i++) {
character = _statustext.next.text[_msg_chunk.char_index++];
if (!character) {
break;
}
_msg_chunk.chunk |= character << i * 8;
_msg_chunk.chunk |= character << (3-i) * 8;
}
if (!character || (_msg_chunk.char_index == sizeof(_statustext.next.text))) { // we've reached the end of the message (string terminated by '\0' or last character of the string has been processed)