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AP_RangeFinder: remove clear buffer in send_request

This commit is contained in:
ShingoMatsuura 2016-11-21 16:55:35 +09:00 committed by Tom Pittenger
parent ea0e413b04
commit c1c643e56e
1 changed files with 1 additions and 12 deletions
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13
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -162,17 +162,6 @@ bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCh
LeddarOne_Status AP_RangeFinder_LeddarOne::send_request(void)
{
uint8_t send_buffer[8] = {0};
uint8_t index = 0;
uint32_t nbytes = uart->available();
// clear buffer
while (nbytes-- > 0) {
uart->read();
if (++index > LEDDARONE_SERIAL_PORT_MAX) {
return LEDDARONE_STATE_ERR_SERIAL_PORT;
}
}
// Modbus read input register (function code 0x04)
send_buffer[0] = LEDDARONE_DEFAULT_ADDRESS;
@ -186,7 +175,7 @@ LeddarOne_Status AP_RangeFinder_LeddarOne::send_request(void)
CRC16(send_buffer, 6, false);
// write buffer data with CRC16 bits
for (index=0; index<8; index++) {
for (uint8_t index=0; index<8; index++) {
uart->write(send_buffer[index]);
}
uart->flush();