whitespace/formatting

apps/px4io/comms.c

@@ -110,6 +110,7 @@ comms_main(void)
 		if (fds.revents & POLLIN) {
 			char buf[32];
 			ssize_t count = read(fmu_fd, buf, sizeof(buf));
+
 			for (int i = 0; i < count; i++)
 				hx_stream_rx(stream, buf[i]);
 		}
@@ -123,6 +124,7 @@ comms_main(void)
 		/* should we send a report to the FMU? */
 		now = hrt_absolute_time();
 		delta = now - last_report_time;
+
 		if ((delta > FMU_MIN_REPORT_INTERVAL) &&
 		    (system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
 
@@ -132,6 +134,7 @@ comms_main(void)
 			/* populate the report */
 			for (unsigned i = 0; i < system_state.rc_channels; i++)
 				report.rc_channel[i] = system_state.rc_channel_data[i];
+
 			report.channel_count = system_state.rc_channels;
 			report.armed = system_state.armed;
 
@@ -172,7 +175,7 @@ comms_handle_command(const void *buffer, size_t length)
 		system_state.fmu_channel_data[i] = cmd->servo_command[i];
 
 	/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
-	if(system_state.arm_ok && !cmd->arm_ok) {
+	if (system_state.arm_ok && !cmd->arm_ok) {
 		system_state.armed = false;
 	}
 
@@ -204,12 +207,15 @@ comms_handle_frame(void *arg, const void *buffer, size_t length)
 		case F2I_MAGIC:
 			comms_handle_command(buffer, length);
 			break;
+
 		case F2I_CONFIG_MAGIC:
 			comms_handle_config(buffer, length);
 			break;
+
 		case F2I_MIXER_MAGIC:
 			mixer_handle_text(buffer, length);
 			break;
+
 		default:
 			frame_bad++;
 			break;

apps/px4io/controls.c

@@ -90,6 +90,7 @@ controls_main(void)
 
 		if (fds[0].revents & POLLIN)
 			locked |= dsm_input();
+
 		if (fds[1].revents & POLLIN)
 			locked |= sbus_input();
 
@@ -139,6 +140,7 @@ ppm_input(void)
 
 		/* PPM data exists, copy it */
 		system_state.rc_channels = ppm_decoded_channels;
+
 		for (unsigned i = 0; i < ppm_decoded_channels; i++)
 			system_state.rc_channel_data[i] = ppm_buffer[i];
 

apps/px4io/dsm.c

@@ -97,6 +97,7 @@ dsm_init(const char *device)
 		dsm_guess_format(true);
 
 		debug("DSM: ready");
+
 	} else {
 		debug("DSM: open failed");
 	}
@@ -126,6 +127,7 @@ dsm_input(void)
 	 * if we didn't drop bytes...
 	 */
 	now = hrt_absolute_time();
+
 	if ((now - last_rx_time) > 5000) {
 		if (partial_frame_count > 0) {
 			dsm_frame_drops++;
@@ -142,6 +144,7 @@ dsm_input(void)
 	/* if the read failed for any reason, just give up here */
 	if (ret < 1)
 		goto out;
+
 	last_rx_time = now;
 
 	/*
@@ -212,6 +215,7 @@ dsm_guess_format(bool reset)
 		/* if the channel decodes, remember the assigned number */
 		if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31))
 			cs10 |= (1 << channel);
+
 		if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31))
 			cs11 |= (1 << channel);
 
@@ -247,14 +251,17 @@ dsm_guess_format(bool reset)
 
 		if (cs10 == masks[i])
 			votes10++;
+
 		if (cs11 == masks[i])
 			votes11++;
 	}
+
 	if ((votes11 == 1) && (votes10 == 0)) {
 		channel_shift = 11;
 		debug("DSM: detected 11-bit format");
 		return;
 	}
+
 	if ((votes10 == 1) && (votes11 == 0)) {
 		channel_shift = 10;
 		debug("DSM: detected 10-bit format");
@@ -270,11 +277,11 @@ static void
 dsm_decode(hrt_abstime frame_time)
 {
 
-/*
+	/*
 		debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
 		      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
 		      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
-*/
+	*/
 	/*
 	 * If we have lost signal for at least a second, reset the
 	 * format guessing heuristic.
@@ -322,6 +329,7 @@ dsm_decode(hrt_abstime frame_time)
 		/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
 		if (channel_shift == 11)
 			value /= 2;
+
 		value += 998;
 
 		/*
@@ -335,14 +343,18 @@ dsm_decode(hrt_abstime frame_time)
 		case 0:
 			channel = 2;
 			break;
+
 		case 1:
 			channel = 0;
 			break;
+
 		case 2:
 			channel = 1;
+
 		default:
 			break;
 		}
+
 		system_state.rc_channel_data[channel] = value;
 	}
 

apps/px4io/mixer.cpp

@@ -96,6 +96,7 @@ mixer_tick(void)
 			if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
 				system_state.mixer_use_fmu = false;
 			}
+
 		} else {
 			fmu_input_drops = 0;
 			system_state.fmu_data_received = false;
@@ -127,6 +128,7 @@ mixer_tick(void)
 			if (i < mixed) {
 				/* scale to servo output */
 				system_state.servos[i] = (outputs[i] * 500.0f) + 1500;
+
 			} else {
 				/* set to zero to inhibit PWM pulse output */
 				system_state.servos[i] = 0;
@@ -144,6 +146,7 @@ mixer_tick(void)
 	 * Decide whether the servos should be armed right now.
 	 */
 	should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
+
 	if (should_arm && !mixer_servos_armed) {
 		/* need to arm, but not armed */
 		up_pwm_servo_arm(true);
@@ -180,6 +183,7 @@ mixer_handle_text(const void *buffer, size_t length)
 	static unsigned mixer_text_length = 0;
 
 	px4io_mixdata	*msg = (px4io_mixdata *)buffer;
+
 	if (length < sizeof(px4io_mixdata))
 		return;
 
@@ -189,8 +193,10 @@ mixer_handle_text(const void *buffer, size_t length)
 	case F2I_MIXER_ACTION_RESET:
 		mixer_group.reset();
 		mixer_text_length = 0;
+
 		/* FALLTHROUGH */
 	case F2I_MIXER_ACTION_APPEND:
+
 		/* check for overflow - this is really fatal */
 		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text))
 			return;
@@ -207,6 +213,7 @@ mixer_handle_text(const void *buffer, size_t length)
 		/* copy any leftover text to the base of the buffer for re-use */
 		if (mixer_text_length > 0)
 			memcpy(&mixer_text[0], end - mixer_text_length, mixer_text_length);
+
 		break;
 	}
 }

apps/px4io/px4io.h

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
- /**
+/**
  * @file px4io.h
  *
  * General defines and structures for the PX4IO module firmware.
@@ -66,8 +66,7 @@
 /*
  * System state structure.
  */
-struct sys_state_s 
+struct sys_state_s {
-{
 
 	bool		armed;			/* IO armed */
 	bool		arm_ok;			/* FMU says OK to arm */

apps/px4io/safety.c

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
- /**
+/**
  * @file Safety button logic.
  */
 
@@ -101,7 +101,7 @@ safety_check_button(void *arg)
 	 */
 	safety_button_pressed = BUTTON_SAFETY;
 
-	if(safety_button_pressed) {
+	if (safety_button_pressed) {
 		//printf("Pressed, Arm counter: %d, Disarm counter: %d\n", arm_counter, disarm_counter);
 	}
 
@@ -109,34 +109,42 @@ safety_check_button(void *arg)
 	if (safety_button_pressed && !system_state.armed) {
 		if (counter < ARM_COUNTER_THRESHOLD) {
 			counter++;
+
 		} else if (counter == ARM_COUNTER_THRESHOLD) {
 			/* change to armed state and notify the FMU */
 			system_state.armed = true;
 			counter++;
 			system_state.fmu_report_due = true;
 		}
+
 		/* Disarm quickly */
+
 	} else if (safety_button_pressed && system_state.armed) {
 		if (counter < DISARM_COUNTER_THRESHOLD) {
 			counter++;
+
 		} else if (counter == DISARM_COUNTER_THRESHOLD) {
 			/* change to disarmed state and notify the FMU */
 			system_state.armed = false;
 			counter++;
 			system_state.fmu_report_due = true;
 		}
+
 	} else {
 		counter = 0;
 	}
 
 	/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
 	uint16_t pattern = LED_PATTERN_SAFE;
+
 	if (system_state.armed) {
 		if (system_state.arm_ok) {
 			pattern = LED_PATTERN_IO_FMU_ARMED;
+
 		} else {
 			pattern = LED_PATTERN_IO_ARMED;
 		}
+
 	} else if (system_state.arm_ok) {
 		pattern = LED_PATTERN_FMU_ARMED;
 	}
@@ -167,8 +175,10 @@ failsafe_blink(void *arg)
 	/* blink the failsafe LED if we don't have FMU input */
 	if (!system_state.mixer_use_fmu) {
 		failsafe = !failsafe;
+
 	} else {
 		failsafe = false;
 	}
+
 	LED_AMBER(failsafe);
 }

apps/px4io/sbus.c

@@ -88,6 +88,7 @@ sbus_init(const char *device)
 		last_rx_time = hrt_absolute_time();
 
 		debug("Sbus: ready");
+
 	} else {
 		debug("Sbus: open failed");
 	}
@@ -117,6 +118,7 @@ sbus_input(void)
 	 * if we didn't drop bytes...
 	 */
 	now = hrt_absolute_time();
+
 	if ((now - last_rx_time) > 3000) {
 		if (partial_frame_count > 0) {
 			sbus_frame_drops++;
@@ -133,6 +135,7 @@ sbus_input(void)
 	/* if the read failed for any reason, just give up here */
 	if (ret < 1)
 		goto out;
+
 	last_rx_time = now;
 
 	/*
@@ -178,22 +181,22 @@ struct sbus_bit_pick {
 	uint8_t lshift;
 };
 static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
-/*  0 */ { { 0, 0, 0xff, 0},{ 1, 0, 0x07, 8},{ 0, 0, 0x00,  0} },
+	/*  0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
-/*  1 */ { { 1, 3, 0x1f, 0},{ 2, 0, 0x3f, 5},{ 0, 0, 0x00,  0} },
+	/*  1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
-/*  2 */ { { 2, 6, 0x03, 0},{ 3, 0, 0xff, 2},{ 4, 0, 0x01, 10} },
+	/*  2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} },
-/*  3 */ { { 4, 1, 0x7f, 0},{ 5, 0, 0x0f, 7},{ 0, 0, 0x00,  0} },
+	/*  3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
-/*  4 */ { { 5, 4, 0x0f, 0},{ 6, 0, 0x7f, 4},{ 0, 0, 0x00,  0} },
+	/*  4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
-/*  5 */ { { 6, 7, 0x01, 0},{ 7, 0, 0xff, 1},{ 8, 0, 0x03,  9} },
+	/*  5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03,  9} },
-/*  6 */ { { 8, 2, 0x3f, 0},{ 9, 0, 0x1f, 6},{ 0, 0, 0x00,  0} },
+	/*  6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
-/*  7 */ { { 9, 5, 0x07, 0},{10, 0, 0xff, 3},{ 0, 0, 0x00,  0} },
+	/*  7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00,  0} },
-/*  8 */ { {11, 0, 0xff, 0},{12, 0, 0x07, 8},{ 0, 0, 0x00,  0} },
+	/*  8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
-/*  9 */ { {12, 3, 0x1f, 0},{13, 0, 0x3f, 5},{ 0, 0, 0x00,  0} },
+	/*  9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
-/* 10 */ { {13, 6, 0x03, 0},{14, 0, 0xff, 2},{15, 0, 0x01, 10} },
+	/* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} },
-/* 11 */ { {15, 1, 0x7f, 0},{16, 0, 0x0f, 7},{ 0, 0, 0x00,  0} },
+	/* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
-/* 12 */ { {16, 4, 0x0f, 0},{17, 0, 0x7f, 4},{ 0, 0, 0x00,  0} },
+	/* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
-/* 13 */ { {17, 7, 0x01, 0},{18, 0, 0xff, 1},{19, 0, 0x03,  9} },
+	/* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03,  9} },
-/* 14 */ { {19, 2, 0x3f, 0},{20, 0, 0x1f, 6},{ 0, 0, 0x00,  0} },
+	/* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
-/* 15 */ { {20, 5, 0x07, 0},{21, 0, 0xff, 3},{ 0, 0, 0x00,  0} }
+	/* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00,  0} }
 };
 
 static void
@@ -232,6 +235,7 @@ sbus_decode(hrt_abstime frame_time)
 				value |= piece;
 			}
 		}
+
 		/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
 		system_state.rc_channel_data[channel] = (value / 2) + 998;
 	}

apps/systemcmds/mixer/mixer.c

@@ -117,6 +117,8 @@ load(const char *devname, const char *fname)
 		if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
 			continue;
 
+		/* XXX an optimisation here would be to strip extra whitespace */
+
 		/* if the line is too long to fit in the buffer, bail */
 		if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
 			break;

apps/systemlib/mixer/mixer_group.cpp

@@ -135,23 +135,29 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
 		case 'Z':
 			m = NullMixer::from_text(p, buflen);
 			break;
+
 		case 'M':
 			m = SimpleMixer::from_text(_control_cb, _cb_handle, p, buflen);
 			break;
+
 		case 'R':
 			m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, buflen);
 			break;
+
 		default:
 			/* it's probably junk or whitespace */
 			break;
 		}
+
 		if (m != nullptr) {
 			add_mixer(m);
 			ret = 0;
+
 		} else {
 			/* skip whitespace or junk in the buffer */
 			buflen--;
 		}
 	}
+
 	return ret;
 }

apps/systemlib/mixer/mixer_multirotor.cpp

@@ -166,10 +166,12 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 		debug("multirotor parse failed on '%s'", buf);
 		return nullptr;
 	}
+
 	if (used > (int)buflen) {
 		debug("multirotor spec used %d of %u", used, buflen);
 		return nullptr;
 	}
+
 	buflen -= used;
 
 	if (!strcmp(geomname, "4+")) {
@@ -227,9 +229,11 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	if (thrust <= min_thrust) {
 		output_factor = 0.0f;
 		/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
+
 	} else if (thrust < startpoint_full_control && thrust > min_thrust) {
-		output_factor = (thrust/max_thrust)/(startpoint_full_control-min_thrust);
+		output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust);
 		/* and then stay at full control */
+
 	} else {
 		output_factor = max_thrust;
 	}