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|navdata| does not need to be dynamically allocated.

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This commit is contained in:
Ben Laurie
2013-09-08 06:31:14 +01:00
parent 0726043ac0
commit 508f5ebb40
5 changed files with 71 additions and 70 deletions
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sw/airborne/boards/ardrone/navdata.c
+37 -36
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@@ -54,6 +54,8 @@ typedef struct {
static navdata_port port;
static int nav_fd;
measures_t navdata;
static void navdata_write(const uint8_t *buf, size_t count)
{
size_t written = 0;
@@ -112,7 +114,6 @@ int navdata_init()
cmd=0x01;
navdata_write(&cmd, 1);
navdata = malloc(sizeof(measures_t));
navdata_imu_available = 0;
navdata_baro_available = 0;
@@ -223,7 +224,7 @@ static void baro_update_logic(void)
if (lastpressval != 0)
{
// If pressure was updated: this is a sync error
if (lastpressval != navdata->pressure)
if (lastpressval != navdata.pressure)
{
// wait for temp again
temp_or_press_was_updated_last = 0;
@@ -241,7 +242,7 @@ static void baro_update_logic(void)
if (lasttempval != 0)
{
// If temp was updated: this is a sync error
if (lasttempval != navdata->temperature_pressure)
if (lasttempval != navdata.temperature_pressure)
{
// wait for press again
temp_or_press_was_updated_last = 1;
@@ -252,8 +253,8 @@ static void baro_update_logic(void)
navdata_baro_available = 1;
}
lastpressval = navdata->pressure;
lasttempval = navdata->temperature_pressure;
lastpressval = navdata.pressure;
lasttempval = navdata.temperature_pressure;
// debug
// navdata->temperature_pressure = sync_errors;
@@ -273,15 +274,15 @@ void navdata_update()
// if ( navdata_checksum() == 0 )
{
assert(sizeof navdata == NAVDATA_PACKET_SIZE);
memcpy(navdata, port.buffer, NAVDATA_PACKET_SIZE);
memcpy(&navdata, port.buffer, NAVDATA_PACKET_SIZE);
// Invert byte order so that TELEMETRY works better
uint8_t tmp;
uint8_t* p = (uint8_t*) &(navdata->pressure);
uint8_t* p = (uint8_t*) &(navdata.pressure);
tmp = p[0];
p[0] = p[1];
p[1] = tmp;
p = (uint8_t*) &(navdata->temperature_pressure);
p = (uint8_t*) &(navdata.temperature_pressure);
tmp = p[0];
p[0] = p[1];
p[1] = tmp;
@@ -326,13 +327,13 @@ void navdata_CropBuffer(int cropsize)
int16_t navdata_getHeight() {
if (navdata->ultrasound > 10000) {
if (navdata.ultrasound > 10000) {
return previousUltrasoundHeight;
}
int16_t ultrasoundHeight = 0;
ultrasoundHeight = (navdata->ultrasound - 880) / 26.553;
ultrasoundHeight = (navdata.ultrasound - 880) / 26.553;
previousUltrasoundHeight = ultrasoundHeight;
@@ -342,32 +343,32 @@ int16_t navdata_getHeight() {
// The checksum should be calculated here: we don't know the algorithm
uint16_t navdata_checksum() {
navdata_cks = 0;
navdata_cks += navdata->nu_trame;
navdata_cks += navdata->ax;
navdata_cks += navdata->ay;
navdata_cks += navdata->az;
navdata_cks += navdata->vx;
navdata_cks += navdata->vy;
navdata_cks += navdata->vz;
navdata_cks += navdata->temperature_acc;
navdata_cks += navdata->temperature_gyro;
navdata_cks += navdata->ultrasound;
navdata_cks += navdata->us_debut_echo;
navdata_cks += navdata->us_fin_echo;
navdata_cks += navdata->us_association_echo;
navdata_cks += navdata->us_distance_echo;
navdata_cks += navdata->us_curve_time;
navdata_cks += navdata->us_curve_value;
navdata_cks += navdata->us_curve_ref;
navdata_cks += navdata->nb_echo;
navdata_cks += navdata->sum_echo;
navdata_cks += navdata->gradient;
navdata_cks += navdata->flag_echo_ini;
navdata_cks += navdata->pressure;
navdata_cks += navdata->temperature_pressure;
navdata_cks += navdata->mx;
navdata_cks += navdata->my;
navdata_cks += navdata->mz;
navdata_cks += navdata.nu_trame;
navdata_cks += navdata.ax;
navdata_cks += navdata.ay;
navdata_cks += navdata.az;
navdata_cks += navdata.vx;
navdata_cks += navdata.vy;
navdata_cks += navdata.vz;
navdata_cks += navdata.temperature_acc;
navdata_cks += navdata.temperature_gyro;
navdata_cks += navdata.ultrasound;
navdata_cks += navdata.us_debut_echo;
navdata_cks += navdata.us_fin_echo;
navdata_cks += navdata.us_association_echo;
navdata_cks += navdata.us_distance_echo;
navdata_cks += navdata.us_curve_time;
navdata_cks += navdata.us_curve_value;
navdata_cks += navdata.us_curve_ref;
navdata_cks += navdata.nb_echo;
navdata_cks += navdata.sum_echo;
navdata_cks += navdata.gradient;
navdata_cks += navdata.flag_echo_ini;
navdata_cks += navdata.pressure;
navdata_cks += navdata.temperature_pressure;
navdata_cks += navdata.mx;
navdata_cks += navdata.my;
navdata_cks += navdata.mz;
// navdata_cks += navdata->chksum;
return 0; // we dont know how to calculate the checksum