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Cleaned up integer type usage in wpilibc (#92)

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Replaced all unsigned types to signed and int32_t with int in wpilibc
This commit is contained in:
Tyler Veness
2016-09-06 00:01:45 -07:00
committed by Peter Johnson
parent ff93050b31
commit 0cd05d1a42
169 changed files with 914 additions and 943 deletions
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37
wpilibc/athena/src/ADXRS450_Gyro.cpp
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@@ -14,15 +14,15 @@ static constexpr double kSamplePeriod = 0.001;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDegreePerSecondPerLSB = 0.0125;
static constexpr uint8_t kRateRegister = 0x00;
static constexpr uint8_t kTemRegister = 0x02;
static constexpr uint8_t kLoCSTRegister = 0x04;
static constexpr uint8_t kHiCSTRegister = 0x06;
static constexpr uint8_t kQuadRegister = 0x08;
static constexpr uint8_t kFaultRegister = 0x0A;
static constexpr uint8_t kPIDRegister = 0x0C;
static constexpr uint8_t kSNHighRegister = 0x0E;
static constexpr uint8_t kSNLowRegister = 0x10;
static constexpr int kRateRegister = 0x00;
static constexpr int kTemRegister = 0x02;
static constexpr int kLoCSTRegister = 0x04;
static constexpr int kHiCSTRegister = 0x06;
static constexpr int kQuadRegister = 0x08;
static constexpr int kFaultRegister = 0x0A;
static constexpr int kPIDRegister = 0x0C;
static constexpr int kSNHighRegister = 0x0E;
static constexpr int kSNLowRegister = 0x10;
/**
* Initialize the gyro.
@@ -43,8 +43,7 @@ void ADXRS450_Gyro::Calibrate() {
Wait(kCalibrationSampleTime);
m_spi.SetAccumulatorCenter(
static_cast<int32_t>(m_spi.GetAccumulatorAverage()));
m_spi.SetAccumulatorCenter(static_cast<int>(m_spi.GetAccumulatorAverage()));
m_spi.ResetAccumulator();
}
@@ -80,7 +79,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
LiveWindow::GetInstance()->AddSensor("ADXRS450_Gyro", port, this);
}
static bool CalcParity(uint32_t v) {
static bool CalcParity(int v) {
bool parity = false;
while (v != 0) {
parity = !parity;
@@ -89,16 +88,16 @@ static bool CalcParity(uint32_t v) {
return parity;
}
static inline uint32_t BytesToIntBE(uint8_t* buf) {
uint32_t result = static_cast<uint32_t>(buf[0]) << 24;
result |= static_cast<uint32_t>(buf[1]) << 16;
result |= static_cast<uint32_t>(buf[2]) << 8;
result |= static_cast<uint32_t>(buf[3]);
static inline int BytesToIntBE(uint8_t* buf) {
int result = static_cast<int>(buf[0]) << 24;
result |= static_cast<int>(buf[1]) << 16;
result |= static_cast<int>(buf[2]) << 8;
result |= static_cast<int>(buf[3]);
return result;
}
uint16_t ADXRS450_Gyro::ReadRegister(uint8_t reg) {
uint32_t cmd = 0x80000000 | static_cast<uint32_t>(reg) << 17;
uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
int cmd = 0x80000000 | static_cast<int>(reg) << 17;
if (!CalcParity(cmd)) cmd |= 1u;
// big endian