AP_RCProtocol: fixed alignment errors in SRXL2

invalid alignment used

libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp

@@ -23,6 +23,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_RCTelemetry/AP_Spektrum_Telem.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_HAL/utility/sparse-endian.h>
 
 #include "spm_srxl.h"
 
@@ -149,17 +150,17 @@ void AP_RCProtocol_SRXL2::update(void)
     }
 }
 
-void AP_RCProtocol_SRXL2::capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t new_rssi)
+void AP_RCProtocol_SRXL2::capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t new_rssi)
 {
     AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
 
     if (srxl2 != nullptr) {
-        srxl2->_capture_scaled_input(values, in_failsafe, new_rssi);
+        srxl2->_capture_scaled_input(values_p, in_failsafe, new_rssi);
     }
 }
 
 // capture SRXL2 encoded values
-void AP_RCProtocol_SRXL2::_capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t new_rssi)
+void AP_RCProtocol_SRXL2::_capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t new_rssi)
 {
     _in_failsafe = in_failsafe;
     // AP rssi: -1 for unknown, 0 for no link, 255 for maximum link
@@ -200,7 +201,8 @@ void AP_RCProtocol_SRXL2::_capture_scaled_input(const uint16_t *values, bool in_
          *
          * So here we scale to DSMX-2048 and then use our regular Spektrum conversion.
          */
-        _channels[channel] = ((int32_t)(values[i] >> 5) * 1194) / 2048 + 903;
+        const uint16_t v = le16toh_ptr(&values_p[i*2]);
+        _channels[channel] = ((int32_t)(v >> 5) * 1194) / 2048 + 903;
     }
 }
 
@@ -316,9 +318,9 @@ void srxlFillTelemetry(SrxlTelemetryData* pTelemetryData)
 void srxlReceivedChannelData(SrxlChannelData* pChannelData, bool isFailsafe)
 {
     if (isFailsafe) {
-        AP_RCProtocol_SRXL2::capture_scaled_input(pChannelData->values, true, pChannelData->rssi);
+        AP_RCProtocol_SRXL2::capture_scaled_input((const uint8_t *)pChannelData->values, true, pChannelData->rssi);
     } else {
-        AP_RCProtocol_SRXL2::capture_scaled_input(srxlChData.values, false, srxlChData.rssi);
+        AP_RCProtocol_SRXL2::capture_scaled_input((const uint8_t *)srxlChData.values, false, srxlChData.rssi);
     }
 }
 

libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h

@@ -35,7 +35,7 @@ public:
     }
 
     // static functions for SRXL2 callbacks
-    static void capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t rssi);
+    static void capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
     static void send_on_uart(uint8_t* pBuffer, uint8_t length);
     static void change_baud_rate(uint32_t baudrate);
 
@@ -48,7 +48,7 @@ private:
     void _process_byte(uint32_t timestamp_us, uint8_t byte);
     void _send_on_uart(uint8_t* pBuffer, uint8_t length);
     void _change_baud_rate(uint32_t baudrate);
-    void _capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t rssi);
+    void _capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
 
     uint8_t _buffer[SRXL2_FRAMELEN_MAX];       /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0  buffer[1]=byte1  */
     uint8_t _buflen;                          /* length in number of bytes of received srxl dataframe in buffer  */