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Fixes #10

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This commit is contained in:
Pavel Kirienko
2015-01-19 16:22:22 +03:00
parent 632b668d44
commit 8966f97013
1 changed files with 6 additions and 6 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+6 -6
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@@ -178,13 +178,13 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
// Initial guess:
uavcan::int8_t bs1 = 10; // max 15
uavcan::int8_t bs2 = 5; // max 8
uavcan::uint16_t prescaler = 0;
uavcan::uint16_t prescaler = 0U;
while (1)
{
prescaler = uavcan::uint16_t(prescaler_bs / unsigned(1 + bs1 + bs2));
// Check result:
if ((prescaler >= 1) && (prescaler <= 1024))
if ((prescaler >= 1U) && (prescaler <= 1024U))
{
const uavcan::uint32_t current_bitrate = pclk / (prescaler * unsigned(1 + bs1 + bs2));
if (current_bitrate == target_bitrate)
@@ -205,10 +205,10 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
return -1;
}
}
if (!((prescaler >= 1) && (prescaler <= 1024)))
{
return -1;
}
UAVCAN_ASSERT((prescaler >= 1U) && (prescaler <= 1024U));
UAVCAN_ASSERT((bs1 > 0) && (bs2 > 0));
out_timings.prescaler = uavcan::uint16_t(prescaler - 1U);
out_timings.sjw = 1;
out_timings.bs1 = uavcan::uint8_t(bs1 - 1);