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AP_ToshibaCAN: constify some local variables

This commit is contained in:
Randy Mackay 2019-08-10 12:40:02 +09:00
parent fbf5ecfe8c
commit 973caf26f7
1 changed files with 8 additions and 9 deletions
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17
libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
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@ -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,