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Fix build warnings

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This commit is contained in:
Michel Pastor 2018-12-05 00:56:18 +01:00
parent b91de3c532
commit f732d3a90a
2 changed files with 13 additions and 12 deletions
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15
src/main/io/rangefinder_benewake.c
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@ -92,6 +92,7 @@ static void benewakeRangefinderInit(void)
static void benewakeRangefinderUpdate(void) static void benewakeRangefinderUpdate(void)
{ {
tfminiPacket_t *tfminiPacket = (tfminiPacket_t *)buffer;
while (serialRxBytesWaiting(serialPort) > 0) { while (serialRxBytesWaiting(serialPort) > 0) {
uint8_t c = serialRead(serialPort); uint8_t c = serialRead(serialPort);
@ -101,12 +102,12 @@ static void benewakeRangefinderUpdate(void)
} }
// Check header bytes // Check header bytes
if ((bufferPtr == 1) && (((tfminiPacket_t *) &buffer[0])->header0 != 0x59)) { if ((bufferPtr == 1) && (tfminiPacket->header0 != 0x59)) {
bufferPtr = 0; bufferPtr = 0;
continue; continue;
} }
if ((bufferPtr == 2) && (((tfminiPacket_t *) &buffer[0])->header1 != 0x59)) { if ((bufferPtr == 2) && (tfminiPacket->header1 != 0x59)) {
bufferPtr = 0; bufferPtr = 0;
continue; continue;
} }
@ -114,14 +115,12 @@ static void benewakeRangefinderUpdate(void)
// Check for complete packet // Check for complete packet
if (bufferPtr == BENEWAKE_PACKET_SIZE) { if (bufferPtr == BENEWAKE_PACKET_SIZE) {
const uint8_t checksum = buffer[0] + buffer[1] + buffer[2] + buffer[3] + buffer[4] + buffer[5] + buffer[6] + buffer[7]; const uint8_t checksum = buffer[0] + buffer[1] + buffer[2] + buffer[3] + buffer[4] + buffer[5] + buffer[6] + buffer[7];
if (((tfminiPacket_t *) &buffer[0])->checksum == checksum) { if (tfminiPacket->checksum == checksum) {
// Valid packet // Valid packet
hasNewData = true; hasNewData = true;
sensorData = (((tfminiPacket_t *) &buffer[0])->distL << 0) | sensorData = (tfminiPacket->distL << 0) | (tfminiPacket->distH << 8);
(((tfminiPacket_t *) &buffer[0])->distH << 8);
uint16_t qual = (((tfminiPacket_t *) &buffer[0])->strengthL << 0) | uint16_t qual = (tfminiPacket->strengthL << 0) | (tfminiPacket->strengthH << 8);
(((tfminiPacket_t *) &buffer[0])->strengthH << 8);
if (sensorData == 0 || qual <= BENEWAKE_MIN_QUALITY) { if (sensorData == 0 || qual <= BENEWAKE_MIN_QUALITY) {
sensorData = -1; sensorData = -1;
@ -159,4 +158,4 @@ virtualRangefinderVTable_t rangefinderBenewakeVtable = {
.read = benewakeRangefinderGetDistance .read = benewakeRangefinderGetDistance
}; };
#endif #endif

10
src/main/navigation/navigation.c
View file

@ -2342,17 +2342,17 @@ static void resetPositionController(void)
} }
static void processBrakingMode(const bool isAdjusting) static void processBrakingMode(const bool isAdjusting)
{ {
#ifdef USE_MR_BRAKING_MODE #ifdef USE_MR_BRAKING_MODE
static uint32_t brakingModeDisengageAt = 0; static uint32_t brakingModeDisengageAt = 0;
static uint32_t brakingBoostModeDisengageAt = 0; static uint32_t brakingBoostModeDisengageAt = 0;
const bool brakingEntryAllowed = const bool brakingEntryAllowed =
IS_RC_MODE_ACTIVE(BOXBRAKING) && IS_RC_MODE_ACTIVE(BOXBRAKING) &&
!STATE(NAV_CRUISE_BRAKING_LOCKED) && !STATE(NAV_CRUISE_BRAKING_LOCKED) &&
posControl.actualState.velXY > navConfig()->mc.braking_speed_threshold && posControl.actualState.velXY > navConfig()->mc.braking_speed_threshold &&
!isAdjusting && !isAdjusting &&
navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE && navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE &&
navConfig()->mc.braking_speed_threshold > 0 && navConfig()->mc.braking_speed_threshold > 0 &&
@ -2422,6 +2422,8 @@ static void processBrakingMode(const bool isAdjusting)
*/ */
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY); setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
} }
#else
UNUSED(isAdjusting);
#endif #endif
} }