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AP_HAL_Linux: remove double assignment 

_dma_packet_tx.crc is already assigned below, we don't neet to set it to
0 before. While at it move the assignment to .crc up and fix coding
style.
This commit is contained in:
Lucas De Marchi 2016-10-05 12:57:41 -03:00
parent c898b28962
commit 76f1e4243a
1 changed files with 3 additions and 11 deletions
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14
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
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@ -117,9 +117,7 @@ void RPIOUARTDriver::_timer_tick(void)
/* set the baudrate of raspilotio */ /* set the baudrate of raspilotio */
if (_need_set_baud) { if (_need_set_baud) {
if (_baudrate != 0) { if (_baudrate != 0) {
if (!_dev->get_semaphore()->take_nonblocking()) { if (!_dev->get_semaphore()->take_nonblocking()) {
return; return;
} }
@ -128,10 +126,8 @@ void RPIOUARTDriver::_timer_tick(void)
_dma_packet_tx.count_code = 2 | PKT_CODE_WRITE; _dma_packet_tx.count_code = 2 | PKT_CODE_WRITE;
_dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER; _dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_dma_packet_tx.offset = 0;
_dma_packet_tx.regs[0] = _baudrate & 0xffff; _dma_packet_tx.regs[0] = _baudrate & 0xffff;
_dma_packet_tx.regs[1] = _baudrate >> 16; _dma_packet_tx.regs[1] = _baudrate >> 16;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx); _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx), _dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
@ -171,10 +167,9 @@ void RPIOUARTDriver::_timer_tick(void)
_dma_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART; _dma_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART;
_dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER; _dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_dma_packet_tx.offset = n; _dma_packet_tx.offset = n;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* end get write_buf bytes */ /* end get write_buf bytes */
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* set raspilotio to read uart data */ /* set raspilotio to read uart data */
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx), _dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx)); (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
@ -182,11 +177,8 @@ void RPIOUARTDriver::_timer_tick(void)
hal.scheduler->delay_microseconds(100); hal.scheduler->delay_microseconds(100);
/* get uart data from raspilotio */ /* get uart data from raspilotio */
_dma_packet_tx.count_code = 0 | PKT_CODE_READ; memset(&_dma_packet_tx, 0, sizeof(_dma_packet_tx));
_dma_packet_tx.page = 0; _dma_packet_tx.count_code = PKT_CODE_READ;
_dma_packet_tx.offset = 0;
memset( &_dma_packet_tx.regs[0], 0, PKT_MAX_REGS*sizeof(uint16_t) );
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx); _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx), _dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx)); (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));