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Make gyroDataIndex const

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This commit is contained in:
Steve Evans 2021-12-28 21:56:45 +00:00
parent e2f73cd7e5
commit 2d770f747e
1 changed files with 4 additions and 4 deletions
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8
src/main/drivers/accgyro/accgyro_mpu.c
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@ -325,13 +325,13 @@ bool mpuGyroReadSPI(gyroDev_t *gyro)
case GYRO_EXTI_INT_DMA:
{
// Acc and gyro data may not be continuous (MPU6xxx has temperature in between)
uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1;
const uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1;
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
// up an old value.
gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex++]);
gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex++]);
gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex]);
gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex]);
gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex + 1]);
gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex + 2]);
break;
}