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Replace dataSize with sbufBytesRemaining()

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This commit is contained in:
Bas Delfos 2017-07-14 16:06:12 +02:00
parent 6fe956dea0
commit 79c13673be
1 changed files with 15 additions and 12 deletions
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27
src/main/fc/fc_msp.c
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@ -115,6 +115,9 @@
#define STATIC_ASSERT(condition, name) \ #define STATIC_ASSERT(condition, name) \
typedef char assert_failed_ ## name [(condition) ? 1 : -1 ] __attribute__((unused)) typedef char assert_failed_ ## name [(condition) ? 1 : -1 ] __attribute__((unused))
#define BYTES_REMAINING_GTE(num) \
sbufBytesRemaining(src) >= num
static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller. static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER; static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
@ -1597,7 +1600,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_RC_TUNING: case MSP_SET_RC_TUNING:
if (dataSize >= 10) { if (BYTES_REMAINING_GTE(10)) {
currentControlRateProfile->rcRate8 = sbufReadU8(src); currentControlRateProfile->rcRate8 = sbufReadU8(src);
currentControlRateProfile->rcExpo8 = sbufReadU8(src); currentControlRateProfile->rcExpo8 = sbufReadU8(src);
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
@ -1609,10 +1612,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentControlRateProfile->thrMid8 = sbufReadU8(src); currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src); currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src); currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
if (dataSize >= 11) { if (BYTES_REMAINING_GTE(1)) {
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src); currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
} }
if (dataSize >= 12) { if (BYTES_REMAINING_GTE(1)) {
currentControlRateProfile->rcYawRate8 = sbufReadU8(src); currentControlRateProfile->rcYawRate8 = sbufReadU8(src);
} }
generateThrottleCurve(); generateThrottleCurve();
@ -1738,17 +1741,17 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src); gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
currentPidProfile->dterm_lpf_hz = sbufReadU16(src); currentPidProfile->dterm_lpf_hz = sbufReadU16(src);
currentPidProfile->yaw_lpf_hz = sbufReadU16(src); currentPidProfile->yaw_lpf_hz = sbufReadU16(src);
if (dataSize > 5) { if (BYTES_REMAINING_GTE(8)) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
currentPidProfile->dterm_notch_hz = sbufReadU16(src); currentPidProfile->dterm_notch_hz = sbufReadU16(src);
currentPidProfile->dterm_notch_cutoff = sbufReadU16(src); currentPidProfile->dterm_notch_cutoff = sbufReadU16(src);
} }
if (dataSize > 13) { if (BYTES_REMAINING_GTE(4)) {
gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
} }
if (dataSize > 17) { if (BYTES_REMAINING_GTE(1)) {
currentPidProfile->dterm_filter_type = sbufReadU8(src); currentPidProfile->dterm_filter_type = sbufReadU8(src);
} }
// reinitialize the gyro filters with the new values // reinitialize the gyro filters with the new values
@ -1771,11 +1774,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
currentPidProfile->rateAccelLimit = sbufReadU16(src); currentPidProfile->rateAccelLimit = sbufReadU16(src);
currentPidProfile->yawRateAccelLimit = sbufReadU16(src); currentPidProfile->yawRateAccelLimit = sbufReadU16(src);
if (dataSize > 17) { if (BYTES_REMAINING_GTE(2)) {
currentPidProfile->levelAngleLimit = sbufReadU8(src); currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src); currentPidProfile->levelSensitivity = sbufReadU8(src);
} }
if (dataSize > 19) { if (BYTES_REMAINING_GTE(4)) {
currentPidProfile->itermThrottleThreshold = sbufReadU16(src); currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src); currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
} }
@ -1928,21 +1931,21 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
rxConfigMutable()->midrc = sbufReadU16(src); rxConfigMutable()->midrc = sbufReadU16(src);
rxConfigMutable()->mincheck = sbufReadU16(src); rxConfigMutable()->mincheck = sbufReadU16(src);
rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src); rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src);
if (dataSize > 8) { if (BYTES_REMAINING_GTE(4)) {
rxConfigMutable()->rx_min_usec = sbufReadU16(src); rxConfigMutable()->rx_min_usec = sbufReadU16(src);
rxConfigMutable()->rx_max_usec = sbufReadU16(src); rxConfigMutable()->rx_max_usec = sbufReadU16(src);
} }
if (dataSize > 12) { if (BYTES_REMAINING_GTE(4)) {
rxConfigMutable()->rcInterpolation = sbufReadU8(src); rxConfigMutable()->rcInterpolation = sbufReadU8(src);
rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src); rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src);
rxConfigMutable()->airModeActivateThreshold = sbufReadU16(src); rxConfigMutable()->airModeActivateThreshold = sbufReadU16(src);
} }
if (dataSize > 16) { if (BYTES_REMAINING_GTE(6)) {
rxConfigMutable()->rx_spi_protocol = sbufReadU8(src); rxConfigMutable()->rx_spi_protocol = sbufReadU8(src);
rxConfigMutable()->rx_spi_id = sbufReadU32(src); rxConfigMutable()->rx_spi_id = sbufReadU32(src);
rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src); rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src);
} }
if (dataSize > 22) { if (BYTES_REMAINING_GTE(1)) {
rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src); rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src);
} }
break; break;