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https://github.com/ArduPilot/ardupilot
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AP_OpticalFlow: fixed some memory cast warnings
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10b8030e62
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@ -182,7 +182,6 @@ byte
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AP_OpticalFlow_ADNS3080::read_register(byte address)
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AP_OpticalFlow_ADNS3080::read_register(byte address)
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{
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{
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uint8_t result = 0;
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uint8_t result = 0;
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uint8_t junk = 0;
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// get spi semaphore if required
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// get spi semaphore if required
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if( _spi_semaphore != NULL ) {
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if( _spi_semaphore != NULL ) {
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@ -198,11 +197,11 @@ AP_OpticalFlow_ADNS3080::read_register(byte address)
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digitalWrite(_cs_pin, LOW);
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digitalWrite(_cs_pin, LOW);
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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junk = SPI.transfer(address); // send the device the register you want to read:
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SPI.transfer(address); // send the device the register you want to read:
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delayMicroseconds(50); // small delay
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delayMicroseconds(50); // small delay
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result = SPI.transfer(0x00); // send a value of 0 to read the first byte returned:
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result = SPI.transfer(0x00); // send a value of 0 to read the first byte returned:
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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junk = SPI3.transfer(address); // send the device the register you want to read:
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SPI3.transfer(address); // send the device the register you want to read:
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delayMicroseconds(50); // small delay
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delayMicroseconds(50); // small delay
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result = SPI3.transfer(0x00); // send a value of 0 to read the first byte returned:
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result = SPI3.transfer(0x00); // send a value of 0 to read the first byte returned:
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}
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}
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@ -224,8 +223,6 @@ AP_OpticalFlow_ADNS3080::read_register(byte address)
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void
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void
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AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
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AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
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{
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{
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byte junk = 0;
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// get spi semaphore if required
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// get spi semaphore if required
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if( _spi_semaphore != NULL ) {
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if( _spi_semaphore != NULL ) {
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// if failed to get semaphore then just quietly fail
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// if failed to get semaphore then just quietly fail
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@ -240,13 +237,13 @@ AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
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digitalWrite(_cs_pin, LOW);
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digitalWrite(_cs_pin, LOW);
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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junk = SPI.transfer(address | 0x80 ); // send register address
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SPI.transfer(address | 0x80 ); // send register address
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delayMicroseconds(50); // small delay
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delayMicroseconds(50); // small delay
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junk = SPI.transfer(value); // send data
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SPI.transfer(value); // send data
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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junk = SPI3.transfer(address | 0x80 ); // send register address
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SPI3.transfer(address | 0x80 ); // send register address
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delayMicroseconds(50); // small delay
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delayMicroseconds(50); // small delay
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junk = SPI3.transfer(value); // send data
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SPI3.transfer(value); // send data
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}
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}
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// take the chip select high to de-select:
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// take the chip select high to de-select:
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