Updated the use of command buffer

Author: richardclli

radio/src/targets/common/arm/stm32/flysky_gimbal_driver.cpp

@@ -55,7 +55,7 @@ static const stm32_usart_t fsUSART = {
   .rxDMA_Channel = FLYSKY_HALL_DMA_Channel,
 };
 
-DEFINE_STM32_SERIAL_PORT(FSGimbal, fsUSART, HALLSTICK_BUFF_SIZE, 0);
+DEFINE_STM32_SERIAL_PORT(FSGimbal, fsUSART, HALLSTICK_BUFF_SIZE, HALLSTICK_CMD_BUFF_SIZE);
 
 static const etx_serial_port_t _fs_gimbal_serial_port = {
   .name = "gimbals",
@@ -66,8 +66,6 @@ static const etx_serial_port_t _fs_gimbal_serial_port = {
 
 static STRUCT_HALL HallProtocol = { 0 };
 
-static uint8_t _fs_hall_command[8] __DMA;
-
 static void* _fs_usart_ctx = nullptr;
 
 static volatile bool _fs_gimbal_detected;
@@ -156,18 +154,18 @@ void _fs_send_cmd(uint8_t id, uint8_t payload)
     return;
   }
 
-  _fs_hall_command[0] = FLYSKY_HALL_PROTOLO_HEAD;
-  _fs_hall_command[1] = id;
-  _fs_hall_command[2] = 0x01;
-  _fs_hall_command[3] = payload;
+  FSGimbal_TXBuffer[0] = FLYSKY_HALL_PROTOLO_HEAD;
+  FSGimbal_TXBuffer[1] = id;
+  FSGimbal_TXBuffer[2] = 0x01;
+  FSGimbal_TXBuffer[3] = payload;
 
-  unsigned short crc = crc16(CRC_1021, _fs_hall_command, 4, 0xffff);
+  unsigned short crc = crc16(CRC_1021, FSGimbal_TXBuffer, 4, 0xffff);
 
-  _fs_hall_command[4] = crc & 0xff;
-  _fs_hall_command[5] = crc >>8 & 0xff ;
+  FSGimbal_TXBuffer[4] = crc & 0xff;
+  FSGimbal_TXBuffer[5] = crc >>8 & 0xff ;
 
   _fs_gimbal_cmd_finished = false;
-  STM32SerialDriver.sendBuffer(_fs_usart_ctx, _fs_hall_command, 6);
+  STM32SerialDriver.sendBuffer(_fs_usart_ctx, FSGimbal_TXBuffer, 6);
 //  TRACE("Flysky Gimbal: Sent command, id = %d, payload = %d", id, payload);
 }
 

radio/src/targets/common/arm/stm32/flysky_gimbal_driver.h

@@ -26,6 +26,7 @@
 // Max packet size = 1 byte header + 1 byte ID + 1 byte length + 25 bytes payload + 2 bytes CRC = 30 bytes
 // using 32 bytes is more than enough
 #define HALLSTICK_BUFF_SIZE             ( 32 )
+#define HALLSTICK_CMD_BUFF_SIZE         ( 8 )
 #define FLYSKY_HALL_BAUDRATE            ( 921600 )
 #define FLYSKY_HALL_CHANNEL_COUNT       ( 4 )