From c8d11a0e67a373fcd8c1e0fc54b1ba56d7122030 Mon Sep 17 00:00:00 2001
From: Alain Carlucci <alain.carlucci@skywarder.eu>
Date: Sun, 30 Apr 2017 15:15:09 +0200
Subject: [PATCH] Minor fixes
---
src/shared/BusTemplate.h | 3 ++-
src/shared/boards/AnakinBoard.cpp | 8 ++++----
src/shared/log/Log.h | 14 ++++++++------
3 files changed, 14 insertions(+), 11 deletions(-)
diff --git a/src/shared/BusTemplate.h b/src/shared/BusTemplate.h
index 482c8812e..41b86f669 100644
--- a/src/shared/BusTemplate.h
+++ b/src/shared/BusTemplate.h
@@ -73,7 +73,8 @@ private:
inline void _write(uint8_t byte) const {
getSPIAddr(N)->DR=byte;
while((getSPIAddr(N)->SR & SPI_SR_RXNE)==0);
- byte=getSPIAddr(N)->DR;
+ volatile uint8_t temp;
+ temp = getSPIAddr(N)->DR;
}
inline int _read(void* buffer, size_t max_len) const {
diff --git a/src/shared/boards/AnakinBoard.cpp b/src/shared/boards/AnakinBoard.cpp
index 934205719..c4f009f03 100644
--- a/src/shared/boards/AnakinBoard.cpp
+++ b/src/shared/boards/AnakinBoard.cpp
@@ -4,10 +4,6 @@
if (!x->init()) { sLog->logString("=== ERR: CANNOT INIT " #x); } \
} while(0)
-#define ADD_SAMPLER(type, name, rate) \
- sEventScheduler->add(std::bind(& type ## SensorSampler::Update,name), \
- rate, #name "-" #rate "ms")
-
AnakinBoard::AnakinBoard()
{
mInited = false;
@@ -78,6 +74,10 @@ bool AnakinBoard::init()
m10HzSimple.AddSensor(mS_MS580);
sLog->logString("Adding samplers to scheduler\n");
+ #define ADD_SAMPLER(type, name, rate) \
+ sEventScheduler->add(std::bind(& type ## SensorSampler::Update,name),\
+ rate, #name "-" #rate "ms")
+
ADD_SAMPLER(DMA, m100HzDMA, 10); // 10ms
ADD_SAMPLER(DMA, m25HzDMA, 40); // 25ms
ADD_SAMPLER(Simple, m100HzSimple, 10); // 10ms
diff --git a/src/shared/log/Log.h b/src/shared/log/Log.h
index 9e11e6f01..3be1e16ff 100644
--- a/src/shared/log/Log.h
+++ b/src/shared/log/Log.h
@@ -44,7 +44,7 @@ public:
std::vector<uint8_t> buf(2 + sizeof(float));
buf[0] = DATA_FLOAT;
buf[1] = id;
- memcpy(&buf[2], &data, sizeof(float));
+ *((float *)&buf[2]) = data;
queue(std::move(buf));
}
@@ -56,9 +56,9 @@ public:
buf[0] = DATA_VEC3;
buf[1] = id;
- tmp = data.getX(); memcpy(&buf[2], &tmp, sizeof(float));
- tmp = data.getY(); memcpy(&buf[6], &tmp, sizeof(float));
- tmp = data.getZ(); memcpy(&buf[10], &tmp, sizeof(float));
+ tmp = data.getX(); *((float *)&buf[2]) = tmp;
+ tmp = data.getY(); *((float *)&buf[6]) = tmp;
+ tmp = data.getZ(); *((float *)&buf[10]) = tmp;
queue(std::move(buf));
}
@@ -89,15 +89,17 @@ private:
Log() : ActiveObject(1024)
{
+ /*
struct termios t;
tcgetattr(STDIN_FILENO, &t);
t.c_lflag &= ~(ISIG | ICANON | ECHO);
tcsetattr(STDIN_FILENO,TCSANOW, &t);
+ */
}
void write(const std::vector<uint8_t>& data)
{
- const char map[]="0123456789abcdef\r\n";
+ static const char map[]="0123456789abcdef";
for(size_t i=0;i<data.size();i++)
{
const char& di = data[i];
@@ -106,7 +108,7 @@ private:
out[1] = map[di & 0x0f];
::write(1, out, 2);
}
- ::write(1, &map[16], 2);
+ ::write(1, "\r\n", 2);
}
void queue(std::vector<uint8_t>&& data)
--
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