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AP_GPS: Use common hexadecimal character to number conversion method

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This commit is contained in:
murata 2019-07-12 10:52:38 +02:00 committed by Andrew Tridgell
parent a39228c453
commit e4455491aa
2 changed files with 6 additions and 21 deletions
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20
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -115,19 +115,6 @@ bool AP_GPS_NMEA::_decode(char c)
return valid_sentence; return valid_sentence;
} }
//
// internal utilities
//
int16_t AP_GPS_NMEA::_from_hex(char a)
{
if (a >= 'A' && a <= 'F')
return a - 'A' + 10;
else if (a >= 'a' && a <= 'f')
return a - 'a' + 10;
else
return a - '0';
}
int32_t AP_GPS_NMEA::_parse_decimal_100(const char *p) int32_t AP_GPS_NMEA::_parse_decimal_100(const char *p)
{ {
char *endptr = nullptr; char *endptr = nullptr;
@ -240,7 +227,12 @@ bool AP_GPS_NMEA::_term_complete()
{ {
// handle the last term in a message // handle the last term in a message
if (_is_checksum_term) { if (_is_checksum_term) {
uint8_t checksum = 16 * _from_hex(_term[0]) + _from_hex(_term[1]); uint8_t nibble_high = 0;
uint8_t nibble_low = 0;
if (!hex_to_uint8(_term[0], nibble_high) || !hex_to_uint8(_term[1], nibble_low)) {
return false;
}
const uint8_t checksum = (nibble_high << 4u) | nibble_low;
if (checksum == _parity) { if (checksum == _parity) {
if (_gps_data_good) { if (_gps_data_good) {
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();

7
libraries/AP_GPS/AP_GPS_NMEA.h
View File

@ -83,13 +83,6 @@ private:
/// ///
bool _decode(char c); bool _decode(char c);
/// Return the numeric value of an ascii hex character
///
/// @param a The character to be converted
/// @returns The value of the character as a hex digit
///
int16_t _from_hex(char a);
/// Parses the @p as a NMEA-style decimal number with /// Parses the @p as a NMEA-style decimal number with
/// up to 3 decimal digits. /// up to 3 decimal digits.
/// ///