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AP_OpticalFlow: tighten scope on variables

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Peter Barker 2022-01-24 16:43:22 +11:00 committed by Randy Mackay
parent 5d29d945e0
commit 170b8da2fa
1 changed files with 2 additions and 5 deletions
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7
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
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@ -111,9 +111,6 @@ bool AP_OpticalFlow_Pixart::setup_sensor(void)
} }
WITH_SEMAPHORE(_dev->get_semaphore()); WITH_SEMAPHORE(_dev->get_semaphore());
uint8_t id;
uint16_t crc;
// power-up sequence // power-up sequence
reg_write(PIXART_REG_POWER_RST, 0x5A); reg_write(PIXART_REG_POWER_RST, 0x5A);
hal.scheduler->delay(50); hal.scheduler->delay(50);
@ -139,7 +136,7 @@ bool AP_OpticalFlow_Pixart::setup_sensor(void)
if (model == PIXART_3900) { if (model == PIXART_3900) {
srom_download(); srom_download();
id = reg_read(PIXART_REG_SROM_ID); const uint8_t id = reg_read(PIXART_REG_SROM_ID);
if (id != srom_id) { if (id != srom_id) {
debug("Pixart: bad SROM ID: 0x%02x\n", id); debug("Pixart: bad SROM ID: 0x%02x\n", id);
return false; return false;
@ -148,7 +145,7 @@ bool AP_OpticalFlow_Pixart::setup_sensor(void)
reg_write(PIXART_REG_SROM_EN, 0x15); reg_write(PIXART_REG_SROM_EN, 0x15);
hal.scheduler->delay(10); hal.scheduler->delay(10);
crc = reg_read16u(PIXART_REG_DOUT_L); const uint16_t crc = reg_read16u(PIXART_REG_DOUT_L);
if (crc != 0xBEEF) { if (crc != 0xBEEF) {
debug("Pixart: bad SROM CRC: 0x%04x\n", crc); debug("Pixart: bad SROM CRC: 0x%04x\n", crc);
return false; return false;