From 4fcf5afcb7de06c0dcb201df6c27bd16b3f8a327 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 19 Sep 2023 21:29:26 +0100 Subject: [PATCH] AP_RCProtocol: use single frame API --- libraries/AP_RCProtocol/AP_RCProtocol.cpp | 2 +- libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp index 244ce7cabe6a7c..9cbb186e2e54b7 100644 --- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp +++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp @@ -359,7 +359,7 @@ void AP_RCProtocol::check_added_uart(void) // processing in frame-based mode if (!searching && backend[_detected_protocol]->frame_input_enabled()) { uint8_t buf[64]; - while (added.uart->frames_available()) { + while (added.uart->frame_available()) { ssize_t nbytes = added.uart->read_frame(buf, 64); process_frame(buf, nbytes); } diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp index 443627413c2bfb..67225288b8fbb9 100644 --- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp +++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp @@ -294,9 +294,9 @@ void AP_RCProtocol_CRSF::frame_input_enabled(AP_HAL::UARTDriver* uart, bool onof { AP_RCProtocol_Backend::frame_input_enabled(uart, onoff); if (onoff) { - uart->begin_framing(CRSF_FRAMELEN_MAX, 5); + uart->begin_framing(CRSF_FRAMELEN_MAX); } else { - uart->begin_framing(1, 1); // stop framing + uart->begin_framing(1); // stop framing } } @@ -441,7 +441,7 @@ bool AP_RCProtocol_CRSF::decode_crsf_packet() // change the baud rate uart->begin(_new_baud_rate); if (!AP_RCProtocol_Backend::frame_input_enabled()) { - uart->begin_framing(CRSF_FRAMELEN_MAX, 5); + uart->begin_framing(CRSF_FRAMELEN_MAX); } } _new_baud_rate = 0;