From 0be4b230bd5424a0ca9ac4ee2943fbd90a2022d1 Mon Sep 17 00:00:00 2001
From: Alain Carlucci <alain.carlucci@skywarder.eu>
Date: Sun, 30 Apr 2017 15:14:26 +0200
Subject: [PATCH] [Sensors] Removed padding
---
src/shared/sensors/FXAS21002.h | 4 ++--
src/shared/sensors/LPS331AP.h | 4 ++--
src/shared/sensors/MAX21105.h | 4 ++--
src/shared/sensors/MPU9250.h | 5 ++---
src/shared/sensors/iNemo.h | 10 +++++-----
5 files changed, 13 insertions(+), 14 deletions(-)
diff --git a/src/shared/sensors/FXAS21002.h b/src/shared/sensors/FXAS21002.h
index 4a564af7b..cfba4bf28 100644
--- a/src/shared/sensors/FXAS21002.h
+++ b/src/shared/sensors/FXAS21002.h
@@ -125,7 +125,7 @@ public:
std::vector<SPIRequest> buildDMARequest() override
{
std::vector<uint8_t> data = {
- REG_OUT_X_MSB | 0x80, 0,
+ REG_OUT_X_MSB | 0x80,
0,0,0,0,0,0
};
@@ -136,7 +136,7 @@ public:
{
const auto& r = req.readResponseFromPeripheral();
int16_t data[3];
- memcpy(data, &r[2], sizeof(data));
+ memcpy(data, &r[1], sizeof(data));
for(int i=0;i<3;i++)
data[i] = fromBigEndian16(data[i]);
diff --git a/src/shared/sensors/LPS331AP.h b/src/shared/sensors/LPS331AP.h
index 41ebf69d2..5af67789b 100644
--- a/src/shared/sensors/LPS331AP.h
+++ b/src/shared/sensors/LPS331AP.h
@@ -71,7 +71,7 @@ public:
{
return {
SPIRequest(0, Bus::getCSPin(), {
- REG_STATUS | 0xc0, 0,
+ REG_STATUS | 0xc0,
0,0,0,0, // pressure (int32_t)
0,0 // temperature (int16_t)
})
@@ -81,7 +81,7 @@ public:
void onDMAUpdate(const SPIRequest& req) override
{
const auto& r = req.readResponseFromPeripheral();
- const data_t *data = (const data_t*) &r[2];
+ const data_t *data = (const data_t*) &r[1];
// Remove status and realign bytes
int32_t pressure = data->press >> 8;
diff --git a/src/shared/sensors/MAX21105.h b/src/shared/sensors/MAX21105.h
index 66f48879c..e78b09469 100644
--- a/src/shared/sensors/MAX21105.h
+++ b/src/shared/sensors/MAX21105.h
@@ -109,7 +109,7 @@ public:
{
return { SPIRequest(0, Bus::getCSPin(),
{
- (GYRO_X_H | 0x80), 0,
+ (GYRO_X_H | 0x80),
0,0,0,0,0,0, // gyro
0,0, // accel
0,0,0,0,0,0, // temp
@@ -120,7 +120,7 @@ public:
void onDMAUpdate(const SPIRequest& req) override
{
const auto& r = req.readResponseFromPeripheral();
- const int16_t* ptr = (const int16_t*) &r[2];
+ const int16_t* ptr = (const int16_t*) &r[1];
rawdata_t raw_data;
constexpr size_t dSize = 7; // 3 (gyro) + 3 (accel) + 1 (temp)
diff --git a/src/shared/sensors/MPU9250.h b/src/shared/sensors/MPU9250.h
index 4cba3202a..9c7d2d96f 100644
--- a/src/shared/sensors/MPU9250.h
+++ b/src/shared/sensors/MPU9250.h
@@ -38,7 +38,6 @@ class MPU9250 : public GyroSensor, public AccelSensor,
typedef union {
struct {
uint8_t status1;
- uint8_t padding;
int16_t mag[3];
uint8_t status2;
};
@@ -72,7 +71,7 @@ public:
{
std::vector<uint8_t> v =
{
- (REG_ACCEL_XOUT_H | 0x80), 0,
+ (REG_ACCEL_XOUT_H | 0x80),
0,0,0,0,0,0, // accel
0,0, // temp
0,0,0,0,0,0, // gyro
@@ -86,7 +85,7 @@ public:
const auto& r = req.readResponseFromPeripheral();
mpudata_t raw_data;
- memcpy(&raw_data.buf, &(r[2]), sizeof(raw_data));
+ memcpy(&raw_data.buf, &(r[1]), sizeof(raw_data));
for(int i=0;i<3;i++)
{
raw_data.accel[i] = fromBigEndian16(raw_data.accel[i]);
diff --git a/src/shared/sensors/iNemo.h b/src/shared/sensors/iNemo.h
index 952f86a6b..baa9301c1 100644
--- a/src/shared/sensors/iNemo.h
+++ b/src/shared/sensors/iNemo.h
@@ -102,13 +102,13 @@ public:
{
return {
SPIRequest(DMA_GYRO, BusG::getCSPin(),
- { OUT_X_L_G | 0xc0, 0,0,0,0,0,0,0}),
+ { OUT_X_L_G | 0xc0, 0,0,0,0,0,0}),
SPIRequest(DMA_ACC, BusXM::getCSPin(),
- { OUT_X_L_A | 0xc0, 0,0,0,0,0,0,0}),
+ { OUT_X_L_A | 0xc0, 0,0,0,0,0,0}),
SPIRequest(DMA_COMP, BusXM::getCSPin(),
- { OUT_X_L_M | 0xc0,0,0,0,0,0,0,0}),
+ { OUT_X_L_M | 0xc0, 0,0,0,0,0,0}),
SPIRequest(DMA_TEMP, BusXM::getCSPin(),
- { OUT_TEMP_L_XM | 0xc0, 0,0,0}),
+ { OUT_TEMP_L_XM | 0xc0, 0,0}),
};
}
@@ -117,7 +117,7 @@ public:
const auto& r = req.readResponseFromPeripheral();
int16_t data[3];
- memcpy(data, &r[2], r.size()-2);
+ memcpy(data, &r[1], r.size()-1);
// printf("ID: %d --> ", req.id()); memDump(r.data(), r.size());
switch(req.id())
--
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