From fb544cab78efe05e74b368c36621f5e0f20c8364 Mon Sep 17 00:00:00 2001 From: murata Date: Wed, 27 Mar 2019 20:10:57 +0900 Subject: [PATCH] AP_Proximity: Change from method reference to macro --- .../AP_Proximity_TeraRangerTower.cpp | 30 +++++------------- .../AP_Proximity_TeraRangerTower.h | 1 - .../AP_Proximity_TeraRangerTowerEvo.cpp | 31 +++++-------------- .../AP_Proximity_TeraRangerTowerEvo.h | 1 - 4 files changed, 16 insertions(+), 47 deletions(-) diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp index cab6de0488..3664228d2d 100644 --- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp +++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp @@ -98,23 +98,14 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data() // check if message has right CRC if (crc_crc8(buffer, 18) == buffer[18]){ - uint16_t d1 = process_distance(buffer[2], buffer[3]); - uint16_t d2 = process_distance(buffer[4], buffer[5]); - uint16_t d3 = process_distance(buffer[6], buffer[7]); - uint16_t d4 = process_distance(buffer[8], buffer[9]); - uint16_t d5 = process_distance(buffer[10], buffer[11]); - uint16_t d6 = process_distance(buffer[12], buffer[13]); - uint16_t d7 = process_distance(buffer[14], buffer[15]); - uint16_t d8 = process_distance(buffer[16], buffer[17]); - - update_sector_data(0, d1); - update_sector_data(45, d8); - update_sector_data(90, d7); - update_sector_data(135, d6); - update_sector_data(180, d5); - update_sector_data(225, d4); - update_sector_data(270, d3); - update_sector_data(315, d2); + update_sector_data(0, UINT16_VALUE(buffer[2], buffer[3])); // d1 + update_sector_data(45, UINT16_VALUE(buffer[16], buffer[17])); // d8 + update_sector_data(90, UINT16_VALUE(buffer[14], buffer[15])); // d7 + update_sector_data(135, UINT16_VALUE(buffer[12], buffer[13])); // d6 + update_sector_data(180, UINT16_VALUE(buffer[10], buffer[11])); // d5 + update_sector_data(225, UINT16_VALUE(buffer[8], buffer[9])); // d4 + update_sector_data(270, UINT16_VALUE(buffer[6], buffer[7])); // d3 + update_sector_data(315, UINT16_VALUE(buffer[4], buffer[5])); // d2 message_count++; } @@ -123,11 +114,6 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data() return (message_count > 0); } -uint16_t AP_Proximity_TeraRangerTower::process_distance(uint8_t buf1, uint8_t buf2) -{ - return (buf1 << 8) + buf2; -} - // process reply void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_t distance_cm) { diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h index ff9474fb6b..880a849850 100644 --- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h +++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h @@ -27,7 +27,6 @@ private: // check and process replies from sensor bool read_sensor_data(); void update_sector_data(int16_t angle_deg, uint16_t distance_cm); - uint16_t process_distance(uint8_t buf1, uint8_t buf2); // reply related variables AP_HAL::UARTDriver *uart = nullptr; diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp index 0d51a90fd1..feced2dd50 100644 --- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp +++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp @@ -150,24 +150,14 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data() //check if message has right CRC if (crc_crc8(buffer, 19) == buffer[19]){ - - uint16_t d1 = process_distance(buffer[2], buffer[3]); - uint16_t d2 = process_distance(buffer[4], buffer[5]); - uint16_t d3 = process_distance(buffer[6], buffer[7]); - uint16_t d4 = process_distance(buffer[8], buffer[9]); - uint16_t d5 = process_distance(buffer[10], buffer[11]); - uint16_t d6 = process_distance(buffer[12], buffer[13]); - uint16_t d7 = process_distance(buffer[14], buffer[15]); - uint16_t d8 = process_distance(buffer[16], buffer[17]); - - update_sector_data(0, d1); - update_sector_data(45, d2); - update_sector_data(90, d3); - update_sector_data(135, d4); - update_sector_data(180, d5); - update_sector_data(225, d6); - update_sector_data(270, d7); - update_sector_data(315, d8); + update_sector_data(0, UINT16_VALUE(buffer[2], buffer[3])); // d1 + update_sector_data(45, UINT16_VALUE(buffer[4], buffer[5])); // d2 + update_sector_data(90, UINT16_VALUE(buffer[6], buffer[7])); // d3 + update_sector_data(135, UINT16_VALUE(buffer[8], buffer[9])); // d4 + update_sector_data(180, UINT16_VALUE(buffer[10], buffer[11])); // d5 + update_sector_data(225, UINT16_VALUE(buffer[12], buffer[13])); // d6 + update_sector_data(270, UINT16_VALUE(buffer[14], buffer[15])); // d7 + update_sector_data(315, UINT16_VALUE(buffer[16], buffer[17])); // d8 message_count++; } @@ -176,11 +166,6 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data() return (message_count > 0); } -uint16_t AP_Proximity_TeraRangerTowerEvo::process_distance(uint8_t buf1, uint8_t buf2) -{ - return (buf1 << 8) + buf2; -} - // process reply void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint16_t distance_cm) { diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h index c64cb7e1c1..e886542500 100644 --- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h +++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h @@ -27,7 +27,6 @@ private: void initialise_modes(); bool read_sensor_data(); void update_sector_data(int16_t angle_deg, uint16_t distance_cm); - uint16_t process_distance(uint8_t buf1, uint8_t buf2); void set_mode(const uint8_t *c, int length); enum InitState {