Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-21 13:02:25 +08:00
Code Issues Actions 4 Packages Projects Releases Wiki Activity

mechanical style fixups

Browse Source
This commit is contained in:
px4dev
2012-08-14 08:47:04 -07:00
parent 92a1fab0fd
commit 34118c72ef
10 changed files with 84 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/drv_gpio.h
+2 -2
View File
@@ -40,10 +40,10 @@
#include <sys/ioctl.h>
/*
/*
* GPIO defines come from a board-specific header, as they are shared
* with board-specific logic.
*
*
* The board-specific header must define:
* GPIO_DEVICE_PATH
* GPIO_RESET
apps/drivers/drv_mixer.h
+6 -11
View File
@@ -71,8 +71,7 @@
#define MIXERIOCRESET _MIXERIOC(1)
/** simple channel scaler */
struct mixer_scaler_s
{
struct mixer_scaler_s {
float negative_scale;
float positive_scale;
float offset;
@@ -81,16 +80,14 @@ struct mixer_scaler_s
};
/** mixer input */
struct mixer_control_s
{
struct mixer_control_s {
uint8_t control_group; /**< group from which the input reads */
uint8_t control_index; /**< index within the control group */
struct mixer_scaler_s scaler; /**< scaling applied to the input before use */
};
/** simple mixer */
struct mixer_simple_s
{
struct mixer_simple_s {
uint8_t control_count; /**< number of inputs */
struct mixer_scaler_s output_scaler; /**< scaling for the output */
struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */
@@ -99,20 +96,18 @@ struct mixer_simple_s
#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
/**
* add a simple mixer in (struct mixer_simple_s *)arg
* add a simple mixer in (struct mixer_simple_s *)arg
*/
#define MIXERIOCADDSIMPLE _MIXERIOC(2)
/** multirotor output definition */
struct mixer_rotor_output_s
{
struct mixer_rotor_output_s {
float angle; /**< rotor angle clockwise from forward in radians */
float distance; /**< motor distance from centre in arbitrary units */
};
/** multirotor mixer */
struct mixer_multirotor_s
{
struct mixer_multirotor_s {
uint8_t rotor_count;
struct mixer_control_s controls[4]; /**< controls are roll, pitch, yaw, thrust */
struct mixer_rotor_output_s rotors[0]; /**< actual size of the array is set by rotor_count */
apps/drivers/mpu6000/mpu6000.cpp
+6 -4
View File
@@ -367,7 +367,7 @@ MPU6000::init()
// FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter)
write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
usleep(1000);
write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000¼/s
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); // Gyro scale 2000¼/s
usleep(1000);
// product-specific scaling
@@ -390,15 +390,16 @@ MPU6000::init()
case MPU6000_REV_D9:
case MPU6000_REV_D10:
// Accel scale 8g (4096 LSB/g)
write_reg(MPUREG_ACCEL_CONFIG,2<<3);
write_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
break;
}
usleep(1000);
// INT CFG => Interrupt on Data Ready
write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready
write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
usleep(1000);
write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
usleep(1000);
// Oscillator set
@@ -898,6 +899,7 @@ mpu6000_main(int argc, char *argv[])
g_dev = nullptr;
return -EIO;
}
return OK;
}
apps/px4/fmu/fmu.cpp
+37 -28
View File
@@ -100,10 +100,10 @@ private:
static void task_main_trampoline(int argc, char *argv[]);
void task_main();
static int control_callback_trampoline(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
static int control_callback_trampoline(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
int control_callback(uint8_t control_group,
uint8_t control_index,
float &input);
@@ -285,7 +285,7 @@ FMUServo::task_main()
}
int
FMUServo::control_callback_trampoline(uintptr_t handle,
FMUServo::control_callback_trampoline(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
@@ -363,6 +363,7 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
} else {
*(unsigned *)arg = 2;
}
break;
case MIXERIOCRESET:
@@ -370,22 +371,27 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
delete _mixers;
_mixers = nullptr;
}
break;
case MIXERIOCADDSIMPLE: {
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo);
if (mixer->check()) {
delete mixer;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
_mixers->add_mixer(mixer);
SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo);
if (mixer->check()) {
delete mixer;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
_mixers->add_mixer(mixer);
}
break;
}
break;
}
case MIXERIOCADDMULTIROTOR:
/* XXX not yet supported */
@@ -393,20 +399,23 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
break;
case MIXERIOCLOADFILE: {
const char *path = (const char *)arg;
const char *path = (const char *)arg;
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
if (_mixers->load_from_file(path) != 0) {
delete _mixers;
_mixers = nullptr;
ret = -EINVAL;
}
break;
}
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
if (_mixers->load_from_file(path) != 0) {
delete _mixers;
_mixers = nullptr;
ret = -EINVAL;
}
break;
}
default:
ret = -ENOTTY;
apps/systemlib/hx_stream.h
+6 -6
View File
@@ -33,7 +33,7 @@
/**
* @file hx_stream.h
*
*
* A simple serial line framing protocol based on HDLC
* with 32-bit CRC protection.
*/
@@ -65,8 +65,8 @@ __BEGIN_DECLS
* not be allocated.
*/
__EXPORT extern hx_stream_t hx_stream_init(int fd,
hx_stream_rx_callback callback,
void *arg);
hx_stream_rx_callback callback,
void *arg);
/**
* Free a hx_stream object.
@@ -106,8 +106,8 @@ __EXPORT extern void hx_stream_set_counters(hx_stream_t stream,
* set on error.
*/
__EXPORT extern int hx_stream_send(hx_stream_t stream,
const void *data,
size_t count);
const void *data,
size_t count);
/**
* Handle a byte from the stream.
@@ -116,7 +116,7 @@ __EXPORT extern int hx_stream_send(hx_stream_t stream,
* @param c The character to process.
*/
__EXPORT extern void hx_stream_rx(hx_stream_t stream,
uint8_t c);
uint8_t c);
__END_DECLS
apps/systemlib/mixer/mixer.cpp
+3
View File
@@ -116,6 +116,7 @@ NullMixer::mix(float *outputs, unsigned space)
*outputs = 0.0f;
return 1;
}
return 0;
}
@@ -148,6 +149,7 @@ SimpleMixer::mix(float *outputs, unsigned space)
if (_info == nullptr)
return 0;
if (space < 1)
return 0;
@@ -161,6 +163,7 @@ SimpleMixer::mix(float *outputs, unsigned space)
sum += scale(_info->controls[i].scaler, input);
}
*outputs = scale(_info->output_scaler, sum);
return 1;
}
apps/systemlib/mixer/mixer.h
+8 -9
View File
@@ -131,7 +131,7 @@
#include "drivers/drv_mixer.h"
/**
* Abstract class defining a mixer mixing zero or more inputs to
* Abstract class defining a mixer mixing zero or more inputs to
* one or more outputs.
*/
class __EXPORT Mixer
@@ -149,10 +149,10 @@ public:
* @param control The returned control
* @return Zero if the value was fetched, nonzero otherwise.
*/
typedef int (* ControlCallback)(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &control);
typedef int (* ControlCallback)(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &control);
/**
* Constructor.
@@ -237,8 +237,8 @@ public:
*
* Z:
*
* This mixer generates a constant zero output, and is normally used to
* skip over outputs that are not in use.
* This mixer generates a constant zero output, and is normally used to
* skip over outputs that are not in use.
*
* Simple Mixer:
*
@@ -336,8 +336,7 @@ private:
class __EXPORT MultirotorMixer : public Mixer
{
public:
enum Geometry
{
enum Geometry {
MULTIROTOR_QUAD_PLUS,
MULTIROTOR_QUAD_X
/* XXX add more here */
apps/systemlib/mixer/mixer_group.cpp
+13 -4
View File
@@ -171,10 +171,12 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
/* first, get the output scaler */
ret = mixer_getline(fd, buf, sizeof(buf));
if (ret < 1) {
debug("failed reading for output scaler");
goto fail;
}
if (mixer_parse_output_scaler(buf, mixinfo->output_scaler)) {
debug("failed parsing output scaler");
goto fail;
@@ -183,17 +185,20 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
/* now get any inputs */
for (unsigned i = 0; i < inputs; i++) {
ret = mixer_getline(fd, buf, sizeof(buf));
if (ret < 1) {
debug("failed reading for control scaler");
goto fail;
}
if (mixer_parse_control_scaler(buf,
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index)) {
if (mixer_parse_control_scaler(buf,
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index)) {
debug("failed parsing control scaler");
goto fail;
}
debug("got control %d", i);
}
@@ -266,8 +271,10 @@ MixerGroup::add_mixer(Mixer *mixer)
Mixer **mpp;
mpp = &_first;
while (*mpp != nullptr)
mpp = &((*mpp)->_next);
*mpp = mixer;
mixer->_next = nullptr;
}
@@ -282,6 +289,7 @@ MixerGroup::mix(float *outputs, unsigned space)
index += mixer->mix(outputs + index, space - index);
mixer = mixer->_next;
}
return index;
}
@@ -303,6 +311,7 @@ MixerGroup::load_from_file(const char *path)
return -1;
int fd = open(path, O_RDONLY);
if (fd < 0) {
debug("failed to open %s", path);
return -1;
apps/systemlib/perf_counter.c
+1 -1
View File
@@ -33,7 +33,7 @@
/**
* @file perf_counter.c
*
*
* @brief Performance measuring tools.
*/
apps/systemlib/visibility.h
+2 -2
View File
@@ -33,7 +33,7 @@
/**
* @file visibility.h
*
*
* Definitions controlling symbol naming and visibility.
*
* This file is normally included automatically by the build system.
@@ -58,5 +58,5 @@
#else
# define __BEGIN_DECLS
# define __END_DECLS
#endif
#endif
#endif