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Remove unnecessary zeros and commented code

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This commit is contained in:
Gold856
2024-06-05 23:47:02 -04:00
parent 379e40209e
commit 02be4f62e9
2 changed files with 5 additions and 6 deletions
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4
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
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@@ -628,10 +628,10 @@ void ADIS16448_IMU::Acquire() {
for (int k = 5; k < 27; k += 2) {
// Process LSB
uint8_t byte = static_cast<uint8_t>(buffer[i + k + 1]);
calc_crc = (calc_crc >> 8) ^ m_adiscrc[(calc_crc & 0x00FF) ^ byte];
calc_crc = (calc_crc >> 8) ^ m_adiscrc[(calc_crc & 0xFF) ^ byte];
// Process MSB
byte = static_cast<uint8_t>(buffer[i + k]);
calc_crc = (calc_crc >> 8) ^ m_adiscrc[(calc_crc & 0x00FF) ^ byte];
calc_crc = (calc_crc >> 8) ^ m_adiscrc[(calc_crc & 0xFF) ^ byte];
}
// Complement
calc_crc = ~calc_crc;

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View File

@@ -714,13 +714,13 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
// Could be multiple data sets in the buffer. Handle each one.
for (int i = 0; i < data_to_read; i += dataset_len) {
// Calculate CRC-16 on each data packet
int calc_crc = 0x0000FFFF; // Starting word
int calc_crc = 0xFFFF; // Starting word
// Cycle through XYZ GYRO, XYZ ACCEL, XYZ MAG, BARO, TEMP (Ignore Status & CRC)
for (int k = 5; k < 27; k += 2) {
// Process LSB
calc_crc = (calc_crc >>> 8) ^ m_adiscrc[(calc_crc & 0x000000FF) ^ buffer[i + k + 1]];
calc_crc = (calc_crc >>> 8) ^ m_adiscrc[(calc_crc & 0xFF) ^ buffer[i + k + 1]];
// Process MSB
calc_crc = (calc_crc >>> 8) ^ m_adiscrc[(calc_crc & 0x000000FF) ^ buffer[i + k]];
calc_crc = (calc_crc >>> 8) ^ m_adiscrc[(calc_crc & 0xFF) ^ buffer[i + k]];
}
// Complement
calc_crc = ~calc_crc & 0xFFFF;
@@ -808,7 +808,6 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
m_integ_gyro_angle_y += (gyro_rate_y - m_gyro_rate_offset_y) * m_dt;
m_integ_gyro_angle_z += (gyro_rate_z - m_gyro_rate_offset_z) * m_dt;
}
// System.out.println("Good CRC");
}
m_first_run = false;
}