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AP_RCProtocol: correct use of MAX_CHANNELS in SRXL2

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This is a little all over the place.  Safe, but ARRAY_SIZE ensures correctness, and we save memory...
This commit is contained in:
Peter Barker 2023-03-15 22:57:24 +11:00 committed by Tom Pittenger
parent d5bca05fb6
commit 440db27807
2 changed files with 3 additions and 5 deletions
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4
libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
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@ -146,7 +146,7 @@ void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte)
}
// Try to parse SRXL packet -- this internally calls srxlRun() after packet is parsed and resets timeout
if (srxlParsePacket(0, _buffer, _frame_len_full)) {
add_input(MAX_CHANNELS, _channels, _in_failsafe, _new_rssi);
add_input(ARRAY_SIZE(_channels), _channels, _in_failsafe, _new_rssi);
}
_last_run_ms = AP_HAL::millis();
@ -200,7 +200,7 @@ void AP_RCProtocol_SRXL2::_capture_scaled_input(const uint8_t *values_p, bool in
_new_rssi = new_rssi * 255 / 100;
}
for (uint8_t i = 0; i < MAX_CHANNELS; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(_channels); i++) {
/*
* Store the decoded channel into the R/C input buffer, taking into
* account the different ideas about channel assignement that we have.

4
libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h
View File

@ -46,8 +46,6 @@ public:
private:
const uint8_t MAX_CHANNELS = MIN((uint8_t)SRXL2_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS);
static AP_RCProtocol_SRXL2* _singleton;
void _process_byte(uint32_t timestamp_us, uint8_t byte);
@ -60,7 +58,7 @@ private:
uint8_t _buffer[SRXL2_FRAMELEN_MAX]; /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0 buffer[1]=byte1 */
uint8_t _buflen; /* length in number of bytes of received srxl dataframe in buffer */
uint32_t _last_run_ms; // last time the state machine was run
uint16_t _channels[SRXL2_MAX_CHANNELS]; /* buffer for extracted RC channel data as pulsewidth in microseconds */
uint16_t _channels[SRXL2_MAX_CHANNELS < MAX_RCIN_CHANNELS ? SRXL2_MAX_CHANNELS : MAX_RCIN_CHANNELS]; /* buffer for extracted RC channel data as pulsewidth in microseconds */
bool _in_bootstrap_or_failsafe; // controls whether we allow UART sends outside a receive time constraint
uint8_t _device_id;