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AP_OpticalFlow: pack struct passed to I2C layer

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We pass "sizeof(i2c_integral_frame)" to hal.i2c->readRegisters(). Since
we have a padding in i2c_integral_frame we actually read 3 bytes more
than we should. Add PACKED to the struct so this is fixed.

i2c_frame doesn't have a padding (or hole) so there isn't this problem,
but since it's also used to calculate the frame size, use PACKED there
too.
This commit is contained in:
Lucas De Marchi 2015-11-02 12:52:38 -02:00 committed by Randy Mackay
parent 6bad33c922
commit 41ddb67712
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_OpticalFlow/AP_OpticalFlow_Linux.h
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@ -9,6 +9,8 @@
#define AP_OpticalFlow_Linux_H
#include "OpticalFlow.h"
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
class AP_OpticalFlow_Linux : public OpticalFlow_backend
@ -25,7 +27,7 @@ public:
private:
typedef struct {
typedef struct PACKED {
uint16_t frame_count;
int16_t pixel_flow_x_sum;
int16_t pixel_flow_y_sum;
@ -40,7 +42,7 @@ private:
int16_t ground_distance;
} i2c_frame;
typedef struct {
typedef struct PACKED {
uint16_t frame_count_since_last_readout;
int16_t pixel_flow_x_integral;
int16_t pixel_flow_y_integral;