From f385aabe458ed162fa8b45afc433ee5de8bb7b60 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 28 Jan 2022 15:18:49 -0800 Subject: [PATCH] ao_micro: Add casts to micropeak code for -Wconversion warnings No bugs detected Signed-off-by: Keith Packard --- src/kernel/ao_microflight.c | 6 +++--- src/kernel/ao_microkalman.c | 14 +++++++------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c index 3c6caf7b..bf994b8f 100644 --- a/src/kernel/ao_microflight.c +++ b/src/kernel/ao_microflight.c @@ -46,7 +46,7 @@ ao_microflight(void) { int16_t sample_count; int16_t log_count; - uint16_t time; + AO_TICK_TYPE time; uint32_t pa_interval_min, pa_interval_max; int32_t pa_diff; uint8_t h; @@ -76,7 +76,7 @@ ao_microflight(void) #endif pa_hist[h] = pa; h = SKIP_PA_HIST(h,1); - pa_diff = pa_ground - ao_pa; + pa_diff = (int32_t) (pa_ground - ao_pa); #if BOOST_DETECT /* Check for a significant pressure change */ @@ -145,7 +145,7 @@ ao_microflight(void) pa_min = ao_pa; if (sample_count == (GROUND_AVG - 1)) { - pa_diff = pa_interval_max - pa_interval_min; + pa_diff = (int32_t) (pa_interval_max - pa_interval_min); /* Check to see if the pressure is now stable */ if (pa_diff < LAND_DETECT) diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c index 3cfb87cc..a9b2c709 100644 --- a/src/kernel/ao_microkalman.c +++ b/src/kernel/ao_microkalman.c @@ -70,14 +70,14 @@ int16_t ao_pa_accel; /* integer portion */ void ao_microkalman_init(void) { - ao_pa = pa; - ao_k_pa = pa << 8; + ao_pa = (uint32_t) pa; + ao_k_pa = (uint32_t) (pa << 8); } void ao_microkalman_predict(void) { - ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2); + ao_k_pa += (uint32_t) (int32_t) fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2); ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP; } @@ -86,12 +86,12 @@ ao_microkalman_correct(void) { int16_t e; /* Height error in Pa */ - e = pa - from_fix8(ao_k_pa); + e = (int16_t) (pa - from_fix8(ao_k_pa)); - ao_k_pa += fix16_to_fix8((int32_t) e * AO_K0_10); + ao_k_pa += (uint32_t)(int32_t)fix16_to_fix8(e * AO_K0_10); ao_k_pa_speed += (int32_t) e * AO_K1_10; ao_k_pa_accel += (int32_t) e * AO_K2_10; ao_pa = from_fix8(ao_k_pa); - ao_pa_speed = from_fix(ao_k_pa_speed); - ao_pa_accel = from_fix(ao_k_pa_accel); + ao_pa_speed = (int16_t) from_fix(ao_k_pa_speed); + ao_pa_accel = (int16_t) from_fix(ao_k_pa_accel); } -- 2.30.2