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AP_RCProtocol: correct CSRF->CRSF 

Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
This commit is contained in:
Peter Barker 2024-02-19 13:07:54 +11:00 committed by Peter Barker
parent e9c59bf3ae
commit 3b9c9497aa
2 changed files with 9 additions and 9 deletions
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14
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
View File

@ -150,7 +150,7 @@ static const char* get_frame_type(uint8_t byte, uint8_t subtype = 0)
#define CRSF_INTER_FRAME_TIME_US_250HZ 4000U // At fastest, frames are sent by the transmitter every 4 ms, 250 Hz
#define CRSF_INTER_FRAME_TIME_US_150HZ 6667U // At medium, frames are sent by the transmitter every 6.667 ms, 150 Hz
#define CRSF_INTER_FRAME_TIME_US_50HZ 20000U // At slowest, frames are sent by the transmitter every 20ms, 50 Hz
#define CSRF_HEADER_TYPE_LEN (CSRF_HEADER_LEN + 1) // header length including type
#define CRSF_HEADER_TYPE_LEN (CRSF_HEADER_LEN + 1) // header length including type
#define CRSF_DIGITAL_CHANNEL_MIN 172
#define CRSF_DIGITAL_CHANNEL_MAX 1811
@ -234,7 +234,7 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
add_to_buffer(_frame_ofs++, byte);
// need a header to get the length
if (_frame_ofs < CSRF_HEADER_TYPE_LEN) {
if (_frame_ofs < CRSF_HEADER_TYPE_LEN) {
return;
}
@ -243,7 +243,7 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
}
// parse the length
if (_frame_ofs == CSRF_HEADER_TYPE_LEN) {
if (_frame_ofs == CRSF_HEADER_TYPE_LEN) {
_frame_crc = crc8_dvb_s2(0, _frame.type);
// check for garbage frame
if (_frame.length > CRSF_FRAME_PAYLOAD_MAX) {
@ -253,19 +253,19 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
}
// update crc
if (_frame_ofs < _frame.length + CSRF_HEADER_LEN) {
if (_frame_ofs < _frame.length + CRSF_HEADER_LEN) {
_frame_crc = crc8_dvb_s2(_frame_crc, byte);
}
// overflow check
if (_frame_ofs > _frame.length + CSRF_HEADER_LEN) {
if (_frame_ofs > _frame.length + CRSF_HEADER_LEN) {
_frame_ofs = 0;
return;
}
// decode whatever we got and expect
if (_frame_ofs == _frame.length + CSRF_HEADER_LEN) {
log_data(AP_RCProtocol::CRSF, timestamp_us, (const uint8_t*)&_frame, _frame_ofs - CSRF_HEADER_LEN);
if (_frame_ofs == _frame.length + CRSF_HEADER_LEN) {
log_data(AP_RCProtocol::CRSF, timestamp_us, (const uint8_t*)&_frame, _frame_ofs - CRSF_HEADER_LEN);
// we consumed the partial frame, reset
_frame_ofs = 0;

4
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
View File

@ -29,8 +29,8 @@
#define CRSF_MAX_CHANNELS 24U // Maximum number of channels from crsf datastream
#define CRSF_FRAMELEN_MAX 64U // maximum possible framelength
#define CSRF_HEADER_LEN 2U // header length
#define CRSF_FRAME_PAYLOAD_MAX (CRSF_FRAMELEN_MAX - CSRF_HEADER_LEN) // maximum size of the frame length field in a packet
#define CRSF_HEADER_LEN 2U // header length
#define CRSF_FRAME_PAYLOAD_MAX (CRSF_FRAMELEN_MAX - CRSF_HEADER_LEN) // maximum size of the frame length field in a packet
#define CRSF_BAUDRATE 416666U
#define ELRS_BAUDRATE 420000U
#define CRSF_TX_TIMEOUT 500000U // the period after which the transmitter is considered disconnected (matches copters failsafe)