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atbetaflight
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cosmetics

This commit is contained in:
tbs-fpv 2021-04-26 17:08:03 +08:00
parent 483b3cc5a7
commit e24d55f0a7
2 changed files with 15 additions and 17 deletions
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9
src/main/rx/crsf.c
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@ -457,7 +457,7 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeState_t *rxRuntimeState)
crsfFrameDone = false;
// unpack the RC channels
if( crsfChannelDataFrame.frame.type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED ) {
if (crsfChannelDataFrame.frame.type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
// use ordinary RC frame structure (0x16)
const crsfPayloadRcChannelsPacked_t* const rcChannels = (crsfPayloadRcChannelsPacked_t*)&crsfChannelDataFrame.frame.payload;
crsfChannelData[0] = rcChannels->chan0;
@ -489,16 +489,15 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeState_t *rxRuntimeState)
const uint8_t *payload = crsfChannelDataFrame.frame.payload;
uint8_t numOfChannels = ((crsfChannelDataFrame.frame.frameLength - CRSF_FRAME_LENGTH_TYPE_CRC) * 8 - CRSF_SUBSET_RC_CHANNELS_PACKED_STARTING_CHANNEL_RESOLUTION) / CRSF_SUBSET_RC_CHANNELS_PACKED_RESOLUTION;
for (n = 0; n < numOfChannels; n++) {
while(bitsMerged < CRSF_SUBSET_RC_CHANNELS_PACKED_RESOLUTION) {
while (bitsMerged < CRSF_SUBSET_RC_CHANNELS_PACKED_RESOLUTION) {
readByte = payload[readByteIndex++];
if(startChannel == 0xFF) {
if (startChannel == 0xFF) {
// get the startChannel
startChannel = readByte & CRSF_SUBSET_RC_CHANNELS_PACKED_STARTING_CHANNEL_MASK;
readByte >>= CRSF_SUBSET_RC_CHANNELS_PACKED_STARTING_CHANNEL_RESOLUTION;
readValue |= ((uint32_t) readByte) << bitsMerged;
bitsMerged += 8 - CRSF_SUBSET_RC_CHANNELS_PACKED_STARTING_CHANNEL_RESOLUTION;
}
else {
} else {
readValue |= ((uint32_t) readByte) << bitsMerged;
bitsMerged += 8;
}

23
src/main/telemetry/crsf.c
View File

@ -86,8 +86,8 @@ typedef struct mspBuffer_s {
static mspBuffer_t mspRxBuffer;
bool isCrsfV3Running = false;
#if defined(USE_CRSF_V3)
static bool isCrsfV3Running = false;
typedef struct {
uint8_t hasPendingReply:1;
uint8_t isNewSpeedValid:1;
@ -634,20 +634,20 @@ void crsfProcessCommand(uint8_t *frameStart) {
uint8_t cmd = *frameStart;
uint8_t subCmd = frameStart[1];
switch (cmd) {
case CRSF_COMMAND_SUBCMD_GENERAL:
switch (subCmd) {
case CRSF_COMMAND_SUBCMD_GENERAL_CRSF_SPEED_PROPOSAL:
case CRSF_COMMAND_SUBCMD_GENERAL:
switch (subCmd) {
case CRSF_COMMAND_SUBCMD_GENERAL_CRSF_SPEED_PROPOSAL:
#if defined(USE_CRSF_V3)
crsfProcessSpeedNegotiationCmd(&frameStart[1]);
crsfScheduleSpeedNegotiationResponse();
crsfProcessSpeedNegotiationCmd(&frameStart[1]);
crsfScheduleSpeedNegotiationResponse();
#endif
break;
default:
break;
}
break;
default:
break;
}
break;
default:
break;
}
}
#endif
@ -735,8 +735,7 @@ void handleCrsfTelemetry(timeUs_t currentTimeUs)
crsfSpeed.confirmationTime = currentTimeUs;
crsfLastCycleTime = currentTimeUs;
return;
}
else if (crsfSpeed.isNewSpeedValid) {
} else if (crsfSpeed.isNewSpeedValid) {
if (currentTimeUs - crsfSpeed.confirmationTime >= 10000) {
// delay 10ms before applying the new baudrate
crsfRxUpdateBaudrate(getCrsfDesireSpeed());