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AP_RangeFinder: Use common hexadecimal to character 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 e4455491aa
commit 0b1987ae36
2 changed files with 6 additions and 15 deletions
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18
libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
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@ -134,7 +134,12 @@ bool AP_RangeFinder_NMEA::decode_latest_term()
{
// handle the last term in a message
if (_term_is_checksum) {
uint8_t checksum = 16 * char_to_hex(_term[0]) + char_to_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;
return ((checksum == _checksum) &&
!is_negative(_distance_m) &&
(_sentence_type == SONAR_DBT || _sentence_type == SONAR_DPT));
@ -174,14 +179,3 @@ bool AP_RangeFinder_NMEA::decode_latest_term()
return false;
}
// return the numeric value of an ascii hex character
int16_t AP_RangeFinder_NMEA::char_to_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';
}

3
libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
View File

@ -60,9 +60,6 @@ private:
// returns true if new sentence has just passed checksum test and is validated
bool decode_latest_term();
// return the numeric value of an ascii hex character
static int16_t char_to_hex(char a);
AP_HAL::UARTDriver *uart = nullptr; // pointer to serial uart
// message decoding related members