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refactor(flysky_gimbal_driver): remove inefficiences in packet parsing function #7443

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refactor(flysky_gimbal_driver): remove inefficiences in packet parsing function #7443

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14 changes: 5 additions & 9 deletions radio/src/targets/common/arm/stm32/flysky_gimbal_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,12 +105,14 @@ static void _fs_parse(STRUCT_HALL *hallBuffer, unsigned char ch)
case GET_LENGTH:
hallBuffer->length = ch;
hallBuffer->dataIndex = 0;
hallBuffer->status = GET_DATA;
if(hallBuffer->length > HALLSTICK_BUFF_SIZE - 5) { // buffer size - header size (1 byte header + 1 byte ID + 1 byte length + 2 bytes CRC = 5 bytes)

if (hallBuffer->length > HALLSTICK_BUFF_SIZE - 5) { // buffer size - header size (1 byte header + 1 byte ID + 1 byte length + 2 bytes CRC = 5 bytes)
hallBuffer->status = GET_START;
} else if (0 == hallBuffer->length) {
hallBuffer->status = GET_CHECKSUM;
hallBuffer->checkSum = 0;
} else {
hallBuffer->status = GET_DATA; // length is in a valid range, next state should extract data
}
break;

Expand All @@ -119,16 +121,10 @@ static void _fs_parse(STRUCT_HALL *hallBuffer, unsigned char ch)
if (hallBuffer->dataIndex >= hallBuffer->length) {
hallBuffer->checkSum = 0;
hallBuffer->dataIndex = 0;
hallBuffer->status = GET_STATE;
hallBuffer->status = GET_CHECKSUM;
}
break;

case GET_STATE:
hallBuffer->checkSum = 0;
hallBuffer->dataIndex = 0;
hallBuffer->status = GET_CHECKSUM;
// fall through!

case GET_CHECKSUM:
hallBuffer->checkSum |= ch << ((hallBuffer->dataIndex++) * 8);
if (hallBuffer->dataIndex >= 2) {
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1 change: 0 additions & 1 deletion radio/src/targets/common/arm/stm32/flysky_gimbal_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,6 @@ enum
GET_ID,
GET_LENGTH,
GET_DATA,
GET_STATE,
GET_CHECKSUM,
CHECKSUM,
};
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