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AP_InertialSensor: changed SIZE to LEN 

thanks to Lucas for suggestion
This commit is contained in:
Andrew Tridgell 2016-11-24 09:06:42 +11:00
parent cb7f46d653
commit 6f28c61c8d
2 changed files with 6 additions and 6 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -230,7 +230,7 @@ extern const AP_HAL::HAL& hal;
#define MPU_SAMPLE_SIZE 14
#define MPU_FIFO_DOWNSAMPLE_COUNT 8
#define MPU_FIFO_BUFFER_SIZE 16
#define MPU_FIFO_BUFFER_LEN 16
#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
#define uint16_val(v, idx)(((uint16_t)v[2*idx] << 8) | v[2*idx+1])
@ -415,7 +415,7 @@ void AP_InertialSensor_MPU6000::start()
set_accel_orientation(_accel_instance, _rotation);
// allocate fifo buffer
_fifo_buffer = (uint8_t *)hal.util->dma_allocate(MPU_FIFO_BUFFER_SIZE * MPU_SAMPLE_SIZE);
_fifo_buffer = (uint8_t *)hal.util->dma_allocate(MPU_FIFO_BUFFER_LEN * MPU_SAMPLE_SIZE);
if (_fifo_buffer == nullptr) {
AP_HAL::panic("MPU6000: Unable to allocate FIFO buffer");
}
@ -644,7 +644,7 @@ void AP_InertialSensor_MPU6000::_read_fifo()
}
while (n_samples > 0) {
uint8_t n = MIN(n_samples, MPU_FIFO_BUFFER_SIZE);
uint8_t n = MIN(n_samples, MPU_FIFO_BUFFER_LEN);
if (!_block_read(MPUREG_FIFO_R_W, rx, n * MPU_SAMPLE_SIZE)) {
printf("MPU60x0: error in fifo read %u bytes\n", n * MPU_SAMPLE_SIZE);
goto check_registers;

6
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -189,7 +189,7 @@ extern const AP_HAL::HAL &hal;
#define MPU_SAMPLE_SIZE 14
#define MPU_FIFO_DOWNSAMPLE_COUNT 8
#define MPU_FIFO_BUFFER_SIZE 16
#define MPU_FIFO_BUFFER_LEN 16
#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
#define uint16_val(v, idx)(((uint16_t)v[2*idx] << 8) | v[2*idx+1])
@ -359,7 +359,7 @@ void AP_InertialSensor_MPU9250::start()
set_accel_orientation(_accel_instance, _rotation);
// allocate fifo buffer
_fifo_buffer = (uint8_t *)hal.util->dma_allocate(MPU_FIFO_BUFFER_SIZE * MPU_SAMPLE_SIZE);
_fifo_buffer = (uint8_t *)hal.util->dma_allocate(MPU_FIFO_BUFFER_LEN * MPU_SAMPLE_SIZE);
if (_fifo_buffer == nullptr) {
AP_HAL::panic("MPU9250: Unable to allocate FIFO buffer");
}
@ -577,7 +577,7 @@ bool AP_InertialSensor_MPU9250::_read_sample()
}
while (n_samples > 0) {
uint8_t n = MIN(MPU_FIFO_BUFFER_SIZE, n_samples);
uint8_t n = MIN(MPU_FIFO_BUFFER_LEN, n_samples);
if (!_block_read(MPUREG_FIFO_R_W, rx, n * MPU_SAMPLE_SIZE)) {
printf("MPU60x0: error in fifo read %u bytes\n", n * MPU_SAMPLE_SIZE);
goto check_registers;