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AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully)

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Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
This commit is contained in:
rmackay9 2012-07-28 16:33:04 +09:00
parent 3047084ed3
commit 7683e9d870
2 changed files with 12 additions and 14 deletions
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22
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -870,7 +870,6 @@ void AP_InertialSensor_MPU6000::dmp_set_sensor_fusion_accel_gain(uint8_t gain)
// Load initial memory values into DMP memory banks
void AP_InertialSensor_MPU6000::dmp_load_mem()
{
uint8_t dump;
for(int i = 0; i < 7; i++) {
register_write(MPUREG_BANK_SEL,i); //MPUREG_BANK_SEL
@ -878,10 +877,10 @@ void AP_InertialSensor_MPU6000::dmp_load_mem()
uint8_t start_addy = j * 0x10;
register_write(MPUREG_MEM_START_ADDR,start_addy);
digitalWrite(_cs_pin, LOW);
dump = SPI.transfer(MPUREG_MEM_R_W);
SPI.transfer(MPUREG_MEM_R_W);
for(int k = 0; k < 16; k++){
unsigned char byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
dump = SPI.transfer((uint8_t) byteToSend);
uint8_t byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
SPI.transfer((uint8_t) byteToSend);
}
digitalWrite(_cs_pin, HIGH);
}
@ -892,28 +891,27 @@ void AP_InertialSensor_MPU6000::dmp_load_mem()
uint8_t start_addy = j * 0x10;
register_write(MPUREG_MEM_START_ADDR,start_addy);
digitalWrite(_cs_pin, LOW);
dump = SPI.transfer(MPUREG_MEM_R_W);
SPI.transfer(MPUREG_MEM_R_W);
for(int k = 0; k < 16; k++){
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
dump = SPI.transfer((uint8_t) byteToSend);
uint8_t byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
SPI.transfer((uint8_t) byteToSend);
}
digitalWrite(_cs_pin, HIGH);
}
register_write(MPUREG_MEM_START_ADDR,0x80);
digitalWrite(_cs_pin, LOW);
dump = SPI.transfer(MPUREG_MEM_R_W);
SPI.transfer(MPUREG_MEM_R_W);
for(int k = 0; k < 9; k++){
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
dump = SPI.transfer((uint8_t) byteToSend);
uint8_t byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
SPI.transfer((uint8_t) byteToSend);
}
digitalWrite(_cs_pin, HIGH);
}
// ========= DMP MEMORY ================================
//dmpMem from dmpDefaultMantis.c
unsigned char dmpMem[8][16][16] PROGMEM = {
const uint8_t dmpMem[8][16][16] PROGMEM = {
{
{
0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00 }

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -12,8 +12,8 @@
#define DMP_FIFO_BUFFER_SIZE 72 // DMP FIFO buffer size
//dmpMem from dmpDefaultMantis.c
extern unsigned char dmpMem[8][16][16] PROGMEM;
// DMP memory
extern const uint8_t dmpMem[8][16][16] PROGMEM;
class AP_InertialSensor_MPU6000 : public AP_InertialSensor
{