Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_OpticalFlow: fixed some memory cast warnings

This commit is contained in:
Andrew Tridgell 2012-11-19 08:27:32 +11:00
parent 859401f334
commit 7800b27b42
1 changed files with 6 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
View File

@ -182,7 +182,6 @@ byte
AP_OpticalFlow_ADNS3080::read_register(byte address)
{
uint8_t result = 0;
uint8_t junk = 0;
// get spi semaphore if required
if( _spi_semaphore != NULL ) {
@ -198,11 +197,11 @@ AP_OpticalFlow_ADNS3080::read_register(byte address)
digitalWrite(_cs_pin, LOW);
if( _spi_bus == ADNS3080_SPIBUS_1 ) {
junk = SPI.transfer(address); // send the device the register you want to read:
SPI.transfer(address); // send the device the register you want to read:
delayMicroseconds(50); // small delay
result = SPI.transfer(0x00); // send a value of 0 to read the first byte returned:
}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
junk = SPI3.transfer(address); // send the device the register you want to read:
SPI3.transfer(address); // send the device the register you want to read:
delayMicroseconds(50); // small delay
result = SPI3.transfer(0x00); // send a value of 0 to read the first byte returned:
}
@ -224,8 +223,6 @@ AP_OpticalFlow_ADNS3080::read_register(byte address)
void
AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
{
byte junk = 0;
// get spi semaphore if required
if( _spi_semaphore != NULL ) {
// if failed to get semaphore then just quietly fail
@ -240,13 +237,13 @@ AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
digitalWrite(_cs_pin, LOW);
if( _spi_bus == ADNS3080_SPIBUS_1 ) {
junk = SPI.transfer(address | 0x80 ); // send register address
SPI.transfer(address | 0x80 ); // send register address
delayMicroseconds(50); // small delay
junk = SPI.transfer(value); // send data
SPI.transfer(value); // send data
}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
junk = SPI3.transfer(address | 0x80 ); // send register address
SPI3.transfer(address | 0x80 ); // send register address
delayMicroseconds(50); // small delay
junk = SPI3.transfer(value); // send data
SPI3.transfer(value); // send data
}
// take the chip select high to de-select: