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AP_RangeFinder: tighten scope of stack variable definition

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Peter Barker 2022-06-22 11:17:01 +10:00 committed by Peter Barker
parent 6923f20ce6
commit 90362a4849
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -133,14 +133,13 @@ bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCh
*/ */
LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(uint8_t &number_detections) LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(uint8_t &number_detections)
{ {
uint8_t index;
uint8_t index_offset = LEDDARONE_DETECTION_DATA_INDEX_OFFSET; uint8_t index_offset = LEDDARONE_DETECTION_DATA_INDEX_OFFSET;
// read serial // read serial
uint32_t nbytes = uart->available(); uint32_t nbytes = uart->available();
if (nbytes != 0) { if (nbytes != 0) {
for (index=read_len; index<nbytes+read_len; index++) { for (uint8_t index=read_len; index<nbytes+read_len; index++) {
if (index >= LEDDARONE_READ_BUFFER_SIZE) { if (index >= LEDDARONE_READ_BUFFER_SIZE) {
return LEDDARONE_STATE_ERR_BAD_RESPONSE; return LEDDARONE_STATE_ERR_BAD_RESPONSE;
} }
@ -173,7 +172,7 @@ LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(uint8_t &number_detect
} }
sum_distance = 0; sum_distance = 0;
for (index=0; index<number_detections; index++) { for (uint8_t index=0; index<number_detections; index++) {
// construct data word from two bytes and convert mm to cm // construct data word from two bytes and convert mm to cm
sum_distance += (static_cast<uint16_t>(read_buffer[index_offset])*256 + read_buffer[index_offset+1]) / 10; sum_distance += (static_cast<uint16_t>(read_buffer[index_offset])*256 + read_buffer[index_offset+1]) / 10;