From 973caf26f7af1a6a71c5e0462e59aaf3eedd49d9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 10 Aug 2019 12:40:02 +0900 Subject: [PATCH] AP_ToshibaCAN: constify some local variables --- libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp index 1006aa0f5f..5048a49f89 100644 --- a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp +++ b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp @@ -309,7 +309,7 @@ void AP_ToshibaCAN::loop() motor_reply_data1_t reply_data; memcpy(reply_data.data, recv_frame.data, sizeof(reply_data.data)); // store response in telemetry array - uint8_t esc_id = recv_frame.id - MOTOR_DATA1; + const uint8_t esc_id = recv_frame.id - MOTOR_DATA1; if (esc_id < TOSHIBACAN_MAX_NUM_ESCS) { WITH_SEMAPHORE(_telem_sem); _telemetry[esc_id].rpm = be16toh(reply_data.rpm); @@ -328,10 +328,10 @@ void AP_ToshibaCAN::loop() // 10 bits: W temperature // 10 bits: motor temperature // remaining 24 bits: reserved - uint16_t u_temp = ((uint16_t)recv_frame.data[0] << 2) | ((uint16_t)recv_frame.data[1] >> 6); - uint16_t v_temp = (((uint16_t)recv_frame.data[1] & (uint16_t)0x3F) << 4) | (((uint16_t)recv_frame.data[2] & (uint16_t)0xF0) >> 4); - uint16_t w_temp = (((uint16_t)recv_frame.data[2] & (uint16_t)0x0F) << 6) | (((uint16_t)recv_frame.data[3] & (uint16_t)0xFC) >> 2); - uint16_t temp_max = MAX(u_temp, MAX(v_temp, w_temp)); + const uint16_t u_temp = ((uint16_t)recv_frame.data[0] << 2) | ((uint16_t)recv_frame.data[1] >> 6); + const uint16_t v_temp = (((uint16_t)recv_frame.data[1] & (uint16_t)0x3F) << 4) | (((uint16_t)recv_frame.data[2] & (uint16_t)0xF0) >> 4); + const uint16_t w_temp = (((uint16_t)recv_frame.data[2] & (uint16_t)0x0F) << 6) | (((uint16_t)recv_frame.data[3] & (uint16_t)0xFC) >> 2); + const uint16_t temp_max = MAX(u_temp, MAX(v_temp, w_temp)); // store repose in telemetry array uint8_t esc_id = recv_frame.id - MOTOR_DATA2; @@ -403,12 +403,11 @@ void AP_ToshibaCAN::update() WITH_SEMAPHORE(_rc_out_sem); const bool armed = hal.util->get_soft_armed(); for (uint8_t i = 0; i < MIN(TOSHIBACAN_MAX_NUM_ESCS, 16); i++) { - SRV_Channel *c = SRV_Channels::srv_channel(i); - if (c == nullptr) { + const SRV_Channel *c = SRV_Channels::srv_channel(i); if (!armed || (c == nullptr)) { _scaled_output[i] = 0; } else { - uint16_t pwm_out = c->get_output_pwm(); + const uint16_t pwm_out = c->get_output_pwm(); if (pwm_out <= 1000) { _scaled_output[i] = 0; } else if (pwm_out >= 2000) { @@ -427,7 +426,7 @@ void AP_ToshibaCAN::update() WITH_SEMAPHORE(_telem_sem); // log if any new data received. Logging only supports up to 8 ESCs - uint64_t time_us = AP_HAL::micros64(); + const uint64_t time_us = AP_HAL::micros64(); for (uint8_t i = 0; i < MIN(TOSHIBACAN_MAX_NUM_ESCS, 8); i++) { if (_telemetry[i].new_data) { logger->Write_ESC(i, time_us,