From 2d770f747e5e632d9ed15f4fd0ac82942037a528 Mon Sep 17 00:00:00 2001 From: Steve Evans Date: Tue, 28 Dec 2021 21:56:45 +0000 Subject: [PATCH] Make gyroDataIndex const --- src/main/drivers/accgyro/accgyro_mpu.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c index 154334ec5..3a8b7fa37 100644 --- a/src/main/drivers/accgyro/accgyro_mpu.c +++ b/src/main/drivers/accgyro/accgyro_mpu.c @@ -325,13 +325,13 @@ bool mpuGyroReadSPI(gyroDev_t *gyro) case GYRO_EXTI_INT_DMA: { // Acc and gyro data may not be continuous (MPU6xxx has temperature in between) - uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1; + const uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1; // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick // up an old value. - gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex++]); - gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex++]); - gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex]); + gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex]); + gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex + 1]); + gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex + 2]); break; }