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AP_RangeFinder: PulsedLightLRF: use be16toh

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This commit is contained in:
Lucas De Marchi 2016-07-12 18:08:19 -03:00
parent c8094e2593
commit d653139c5d
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
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@ -18,6 +18,7 @@
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
extern const AP_HAL::HAL& hal;
@ -77,14 +78,15 @@ bool AP_RangeFinder_PulsedLightLRF::start_reading()
// read - return last value measured by sensor
bool AP_RangeFinder_PulsedLightLRF::get_reading(uint16_t &reading_cm)
{
uint8_t buff[2];
be16_t val;
if (!_dev->get_semaphore()->take(1)) {
return false;
}
// read the high and low byte distance registers
bool ret = _dev->read_registers(AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG, buff, sizeof(buff));
bool ret = _dev->read_registers(AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG,
(uint8_t *) &val, sizeof(val));
_dev->get_semaphore()->give();
if (!ret) {
@ -92,7 +94,7 @@ bool AP_RangeFinder_PulsedLightLRF::get_reading(uint16_t &reading_cm)
}
// combine results into distance
reading_cm = ((uint16_t)buff[0]) << 8 | buff[1];
reading_cm = be16toh(val);
// kick off another reading for next time
// To-Do: replace this with continuous mode