From 696d4b47a18577681778bc28f93c0bbdd95a5f1a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Nov 2018 14:56:16 +1100
Subject: [PATCH] AP_RCProtocol: use SoftSerial clock for SRXL

---
 libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp | 11 ++++++-----
 libraries/AP_RCProtocol/AP_RCProtocol_SRXL.h   |  3 +--
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp
index 1d6260d177..49f6c297df 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp
@@ -51,10 +51,8 @@ void AP_RCProtocol_SRXL::process_pulse(uint32_t width_s0, uint32_t width_s1)
 {
     uint8_t b;
     if (ss.process_pulse(width_s0, width_s1, b)) {
-        _process_byte(clock_us, b, 115200);
+        _process_byte(ss.get_byte_timestamp_us(), b);
     }
-    // keep a clock based on the pulses
-    clock_us += (width_s0 + width_s1);
 }
 
 
@@ -195,7 +193,7 @@ int AP_RCProtocol_SRXL::srxl_channels_get_v5(uint16_t max_values, uint8_t *num_v
     return 0;
 }
 
-void AP_RCProtocol_SRXL::_process_byte(uint32_t timestamp_us, uint8_t byte, uint32_t baudrate)
+void AP_RCProtocol_SRXL::_process_byte(uint32_t timestamp_us, uint8_t byte)
 {
     /*----------------------------------------distinguish different srxl variants at the beginning of each frame---------------------------------------------- */
     /* Check if we have a new begin of a frame --> indicators: Time gap in datastream + SRXL header 0xA<VARIANT>*/
@@ -296,5 +294,8 @@ void AP_RCProtocol_SRXL::_process_byte(uint32_t timestamp_us, uint8_t byte, uint
  */
 void AP_RCProtocol_SRXL::process_byte(uint8_t byte, uint32_t baudrate)
 {
-    _process_byte(AP_HAL::micros(), byte, baudrate);
+    if (baudrate != 115200) {
+        return;
+    }
+    _process_byte(AP_HAL::micros(), byte);
 }
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.h b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.h
index fb4119f604..0bb88a16e6 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL.h
@@ -42,7 +42,7 @@ public:
     void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
     void process_byte(uint8_t byte, uint32_t baudrate) override;
 private:
-    void _process_byte(uint32_t timestamp_us, uint8_t byte, uint32_t baudrate);
+    void _process_byte(uint32_t timestamp_us, uint8_t byte);
     static uint16_t srxl_crc16(uint16_t crc, uint8_t new_byte);
     int srxl_channels_get_v1v2(uint16_t max_values, uint8_t *num_values, uint16_t *values, bool *failsafe_state);
     int srxl_channels_get_v5(uint16_t max_values, uint8_t *num_values, uint16_t *values, bool *failsafe_state);
@@ -62,7 +62,6 @@ private:
     uint8_t decode_state_next = STATE_IDLE;      /* State of frame decoding thatwill be applied when the next byte from dataframe drops in  */
     uint16_t crc_fmu = 0U;                       /* CRC calculated over payload from srxl datastream on this machine */
     uint16_t crc_receiver = 0U;                  /* CRC extracted from srxl datastream  */
-    uint32_t clock_us;                           /* clock calculated from pulse lengths */
 
     SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
 };