Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-05 15:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: To move to the place that use the variable definition for the first time.

Browse Source
This commit is contained in:
murata 2016-09-22 08:32:17 +09:00
parent 8eb7a062c7
commit 3a1cd20f11
1 changed files with 5 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
View File

@ -103,14 +103,10 @@ void AP_RangeFinder_LeddarOne::update(void)
bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck) bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck)
{ {
uint16_t crc = 0xFFFF; uint16_t crc = 0xFFFF;
uint32_t i;
uint32_t j;
uint8_t lCRCHi;
uint8_t lCRCLo;
for (i=0; i<aLength; i++) { for (uint32_t i=0; i<aLength; i++) {
crc ^= aBuffer[i]; crc ^= aBuffer[i];
for (j=0; j<8; j++) { for (uint32_t j=0; j<8; j++) {
if (crc & 1) { if (crc & 1) {
crc = (crc >> 1) ^ 0xA001; crc = (crc >> 1) ^ 0xA001;
} else { } else {
@ -119,8 +115,8 @@ bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCh
} }
} }
lCRCLo = LOWBYTE(crc); uint8_t lCRCLo = LOWBYTE(crc);
lCRCHi = HIGHBYTE(crc); uint8_t lCRCHi = HIGHBYTE(crc);
if (aCheck) { if (aCheck) {
return (aBuffer[aLength] == lCRCLo) && (aBuffer[aLength+1] == lCRCHi); return (aBuffer[aLength] == lCRCLo) && (aBuffer[aLength+1] == lCRCHi);
@ -176,14 +172,13 @@ int8_t AP_RangeFinder_LeddarOne::parse_response(void)
{ {
uint8_t data_buffer[25] = {0}; uint8_t data_buffer[25] = {0};
uint32_t start_ms = AP_HAL::millis(); uint32_t start_ms = AP_HAL::millis();
uint32_t nbytes;
uint32_t len = 0; uint32_t len = 0;
uint8_t i; uint8_t i;
uint8_t index_offset = 11; uint8_t index_offset = 11;
// read serial // read serial
while (AP_HAL::millis() - start_ms < 10) { while (AP_HAL::millis() - start_ms < 10) {
nbytes = uart->available(); uint32_t nbytes = uart->available();
if (len == 25 && nbytes == 0) { if (len == 25 && nbytes == 0) {
break; break;
} else { } else {