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AP_HAL_Linux: use MIN where possible

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This commit is contained in:
Lucas De Marchi 2016-10-05 12:56:34 -03:00
parent 05a7eef1a2
commit c898b28962
2 changed files with 9 additions and 25 deletions
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29
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
View File

@ -4,6 +4,7 @@
#include <cstdio> #include <cstdio>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "px4io_protocol.h" #include "px4io_protocol.h"
@ -162,19 +163,11 @@ void RPIOUARTDriver::_timer_tick(void)
struct IOPacket _dma_packet_tx = {0}, _dma_packet_rx = {0}; struct IOPacket _dma_packet_tx = {0}, _dma_packet_rx = {0};
/* get write_buf bytes */ /* get write_buf bytes */
uint32_t n = _writebuf.available(); uint32_t max_size = MIN(PKT_MAX_REGS * 2,
_baudrate / 10 / (1000000 / RPIOUART_POLL_TIME_INTERVAL));
if (n > PKT_MAX_REGS * 2) { uint32_t n = MIN(_writebuf.available(), max_size);
n = PKT_MAX_REGS * 2;
}
uint16_t _max_size = _baudrate / 10 / (1000000 / RPIOUART_POLL_TIME_INTERVAL);
if (n > _max_size) {
n = _max_size;
}
_writebuf.read(&((uint8_t *)_dma_packet_tx.regs)[0], n); _writebuf.read(&((uint8_t *)_dma_packet_tx.regs)[0], n);
_dma_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART; _dma_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART;
_dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER; _dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
_dma_packet_tx.offset = n; _dma_packet_tx.offset = n;
@ -203,18 +196,10 @@ void RPIOUARTDriver::_timer_tick(void)
/* release sem */ /* release sem */
_dev->get_semaphore()->give(); _dev->get_semaphore()->give();
/* add bytes to read buf */
n = _readbuf.space();
if (_dma_packet_rx.page == PX4IO_PAGE_UART_BUFFER) { if (_dma_packet_rx.page == PX4IO_PAGE_UART_BUFFER) {
/* add bytes to read buf */
if (n > _dma_packet_rx.offset) { max_size = MIN(_dma_packet_rx.offset, PKT_MAX_REGS * 2);
n = _dma_packet_rx.offset; n = MIN(_readbuf.space(), max_size);
}
if (n > PKT_MAX_REGS * 2) {
n = PKT_MAX_REGS * 2;
}
_readbuf.write(&((uint8_t *)_dma_packet_rx.regs)[0], n); _readbuf.write(&((uint8_t *)_dma_packet_rx.regs)[0], n);
} }

5
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
View File

@ -5,6 +5,7 @@
#include <cstdio> #include <cstdio>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
@ -123,9 +124,7 @@ int SPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
* doesn't like to be waiting. Making transactions more frequent but shorter * doesn't like to be waiting. Making transactions more frequent but shorter
* is a win. * is a win.
*/ */
if (n > 100) { n = MIN(n, 100);
n = 100;
}
if (!_dev->get_semaphore()->take_nonblocking()) { if (!_dev->get_semaphore()->take_nonblocking()) {
return 0; return 0;