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sbus: remove unused variables & improve some comments

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Beat Küng
2019-01-07 10:17:37 +01:00
parent 2251150875
commit 9ebd052ac7
1 changed files with 3 additions and 13 deletions
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src/lib/rc/sbus.cpp
+3 -13
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@@ -76,12 +76,6 @@
// this is the rate of the old code
#define SBUS1_DEFAULT_RATE_HZ 72
#define SBUS_SINGLE_CHAR_LEN_US (1/((100000/10)) * 1000 * 1000)
#define SBUS_FRAME_INTERVAL_US 2500
#define SBUS_MIN_CALL_INTERVAL_US (SBUS_FRAME_GAP_US / 3)
#define SBUS_EPSILON_US 2500
/*
Measured values with Futaba FX-30/R6108SB:
-+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV)
@@ -105,7 +99,6 @@
#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
static hrt_abstime last_rx_time;
static hrt_abstime last_frame_time;
static hrt_abstime last_txframe_time = 0;
#define SBUS2_FRAME_SIZE_RX_VOLTAGE 3
@@ -229,7 +222,6 @@ sbus_config(int sbus_fd, bool singlewire)
/* initialise the decoder */
partial_frame_count = 0;
last_rx_time = hrt_absolute_time();
last_frame_time = last_rx_time;
sbus_frame_drops = 0;
ret = 0;
@@ -404,8 +396,7 @@ sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
}
/*
* Great, it looks like we might have a frame. Go ahead and
* decode it.
* Great, it looks like we might have a frame. Go ahead and decode it.
*/
decode_ret = sbus_decode(now, sbus_frame, values, num_values, sbus_failsafe, sbus_frame_drop, max_channels);
@@ -582,7 +573,7 @@ sbus_decode(uint64_t frame_time, uint8_t *frame, uint16_t *values, uint16_t *num
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != SBUS_START_SYMBOL)) {
if (frame[0] != SBUS_START_SYMBOL) {
sbus_frame_drops++;
#if defined(SBUS_DEBUG_LEVEL) && SBUS_DEBUG_LEVEL > 0
printf("DECODE FAIL: ");
@@ -597,6 +588,7 @@ sbus_decode(uint64_t frame_time, uint8_t *frame, uint16_t *values, uint16_t *num
return false;
}
/* the last byte in the frame indicates what frame will follow after this one */
switch (frame[24]) {
case 0x00:
/* this is S.BUS 1 */
@@ -632,8 +624,6 @@ sbus_decode(uint64_t frame_time, uint8_t *frame, uint16_t *values, uint16_t *num
}
/* we have received something we think is a frame */
last_frame_time = frame_time;
unsigned chancount = (max_values > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : max_values;