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cleanup a LOT of trailing whitespaces

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This commit is contained in:
Felix Ruess
2010-11-18 23:04:20 +01:00
parent 9b781e2045
commit 19199755fb
453 changed files with 3876 additions and 3876 deletions
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sw/airborne/lisa/lisa_spistream.h
+128 -128
View File
@@ -27,19 +27,19 @@
SPISTREAM_MAX_TX_PARALLEL_TRANSACTIONS)
#endif
#define SPISTREAM_INVALID_MESSAGE_ID 0
#define SPISTREAM_INVALID_MESSAGE_ID 0
struct spistream_state_t {
struct spistream_state_t {
uint8_t tx_message_cnt; // message cnt of next message to be sent
uint8_t rx_package_cntd;
uint8_t rx_package_cntd;
};
struct spistream_message_range_t {
uint8_t index;
uint8_t size;
struct spistream_message_range_t {
uint8_t index;
uint8_t size;
};
struct spistream_buffers_t {
struct spistream_buffers_t {
uint16_t rx_num_packages; // number of packages in buffer
uint16_t tx_insert; // next index for package insertion
@@ -47,25 +47,25 @@ struct spistream_buffers_t {
uint16_t tx_num_packages; // number of packages in buffer
// RX stores data as array
uint8_t rx[SPISTREAM_RX_BUFFER_SIZE];
uint8_t rx[SPISTREAM_RX_BUFFER_SIZE];
// TX stores packages
struct AutopilotMessagePTStream tx[SPISTREAM_TX_MAX_BUFFER_PACKAGES];
struct AutopilotMessagePTStream tx[SPISTREAM_TX_MAX_BUFFER_PACKAGES];
};
typedef void (*spistream_message_rx_handler_t)(uint8_t msg_id, uint8_t * data, uint16_t num_bytes);
typedef void (*spistream_message_tx_handler_t)(uint8_t msg_id);
struct spistream_config_t {
struct spistream_config_t {
// Handler to call for processing received message
spistream_message_rx_handler_t message_rx_handler;
spistream_message_rx_handler_t message_rx_handler;
// Handler to call after message transmission
spistream_message_tx_handler_t message_tx_handler;
spistream_message_tx_handler_t message_tx_handler;
};
enum spistream_flag { SPISTREAM_NO_WAIT=0, SPISTREAM_WAIT_FOR_READ };
/* Function declarations */
static inline void spistream_init(spistream_message_rx_handler_t message_rx_handler,
static inline void spistream_init(spistream_message_rx_handler_t message_rx_handler,
spistream_message_tx_handler_t message_tx_handler);
static inline void spistream_read_pkg(struct AutopilotMessagePTStream * pkg_in);
static inline void spistream_write_pkg(struct AutopilotMessagePTStream * pkg_out);
@@ -73,196 +73,196 @@ static inline uint8_t spistream_send_msg(uint8_t * data, uint16_t num_bytes, enu
/* Definitions */
static struct spistream_state_t spistream_state;
static struct spistream_buffers_t spistream_buffers;
static struct spistream_config_t spistream;
static struct spistream_state_t spistream_state;
static struct spistream_buffers_t spistream_buffers;
static struct spistream_config_t spistream;
static inline void spistream_init(spistream_message_rx_handler_t message_rx_handler,
static inline void spistream_init(spistream_message_rx_handler_t message_rx_handler,
spistream_message_tx_handler_t message_tx_handler)
{
memset(&spistream_buffers, 0, sizeof(struct spistream_buffers_t));
memset(&spistream_state, 0, sizeof(struct spistream_state_t));
spistream.message_rx_handler = message_rx_handler;
spistream.message_tx_handler = message_tx_handler;
spistream_buffers.rx_num_packages = 0;
spistream_state.rx_package_cntd = 0;
spistream_buffers.tx_num_packages = 0;
{
memset(&spistream_buffers, 0, sizeof(struct spistream_buffers_t));
memset(&spistream_state, 0, sizeof(struct spistream_state_t));
spistream.message_rx_handler = message_rx_handler;
spistream.message_tx_handler = message_tx_handler;
spistream_buffers.rx_num_packages = 0;
spistream_state.rx_package_cntd = 0;
spistream_buffers.tx_num_packages = 0;
}
/**
* Read a single package into internal RX buffer.
* Converts data from package domain to byte array.
* After receiving a full message, the registered spistream.message_rx_handler
* function is called.
* Called on every SPI event.
* Read a single package into internal RX buffer.
* Converts data from package domain to byte array.
* After receiving a full message, the registered spistream.message_rx_handler
* function is called.
* Called on every SPI event.
*/
static inline void spistream_read_pkg(struct AutopilotMessagePTStream * pkg_in)
{
static inline void spistream_read_pkg(struct AutopilotMessagePTStream * pkg_in)
{
uint8_t package_cntd;
if(pkg_in->message_cnt == SPISTREAM_INVALID_MESSAGE_ID) {
return;
}
if(pkg_in->message_cnt == SPISTREAM_INVALID_MESSAGE_ID) {
return;
}
// In the last package of every message, the package_cntd is expected to be
// negative or 0. It indicates the number of zero-bytes that are padded to
// the end of the message to fill a package.
if(pkg_in->package_cntd <= 0) { package_cntd = 1; }
else { package_cntd = pkg_in->package_cntd; }
// In the last package of every message, the package_cntd is expected to be
// negative or 0. It indicates the number of zero-bytes that are padded to
// the end of the message to fill a package.
if(pkg_in->package_cntd <= 0) { package_cntd = 1; }
else { package_cntd = pkg_in->package_cntd; }
if(pkg_in->package_cntd >= spistream_buffers.rx_num_packages) {
if(pkg_in->package_cntd >= spistream_buffers.rx_num_packages) {
spistream_buffers.rx_num_packages = pkg_in->package_cntd;
}
if(spistream_state.rx_package_cntd == 0) { // Beginning of new message
// Message length is first value of package countdown:
spistream_buffers.rx_num_packages = package_cntd;
// Message length is first value of package countdown:
spistream_buffers.rx_num_packages = package_cntd;
spistream_state.rx_package_cntd = package_cntd;
}
memcpy(spistream_buffers.rx +
((spistream_buffers.rx_num_packages - package_cntd) *
SPISTREAM_PACKAGE_SIZE),
pkg_in->pkg_data,
memcpy(spistream_buffers.rx +
((spistream_buffers.rx_num_packages - package_cntd) *
SPISTREAM_PACKAGE_SIZE),
pkg_in->pkg_data,
SPISTREAM_PACKAGE_SIZE);
if(pkg_in->package_cntd <= 0) {
// Message is ready, pass to handler:
if(pkg_in->package_cntd <= 0) {
// Message is ready, pass to handler:
spistream.message_rx_handler(pkg_in->message_cnt,
(uint8_t *)(spistream_buffers.rx),
(spistream_buffers.rx_num_packages *
SPISTREAM_PACKAGE_SIZE) +
(uint8_t *)(spistream_buffers.rx),
(spistream_buffers.rx_num_packages *
SPISTREAM_PACKAGE_SIZE) +
pkg_in->package_cntd);
spistream_state.rx_package_cntd = 0;
}
spistream_state.rx_package_cntd = 0;
}
}
/**
* Fill given SPI package with next package from TX buffer.
* Called on every SPI event.
* Fill given SPI package with next package from TX buffer.
* Called on every SPI event.
*/
static inline void spistream_write_pkg(struct AutopilotMessagePTStream * pkg_out)
{
if(spistream_buffers.tx_num_packages == 0) {
static inline void spistream_write_pkg(struct AutopilotMessagePTStream * pkg_out)
{
if(spistream_buffers.tx_num_packages == 0) {
memset(pkg_out, 0, sizeof(struct AutopilotMessagePTStream));
pkg_out->message_cnt = SPISTREAM_INVALID_MESSAGE_ID;
return;
}
return;
}
memcpy(pkg_out,
spistream_buffers.tx + spistream_buffers.tx_read,
memcpy(pkg_out,
spistream_buffers.tx + spistream_buffers.tx_read,
sizeof(struct AutopilotMessagePTStream));
if(pkg_out->package_cntd <= 0) {
spistream.message_tx_handler(pkg_out->message_cnt);
if(pkg_out->package_cntd <= 0) {
spistream.message_tx_handler(pkg_out->message_cnt);
}
spistream_buffers.tx_read++;
if(spistream_buffers.tx_read >= SPISTREAM_TX_MAX_BUFFER_PACKAGES) {
spistream_buffers.tx_read = 0;
spistream_buffers.tx_read++;
if(spistream_buffers.tx_read >= SPISTREAM_TX_MAX_BUFFER_PACKAGES) {
spistream_buffers.tx_read = 0;
}
spistream_buffers.tx_num_packages--;
}
/**
* Enqueue given message in TX buffer.
* This function is directly wrapped by spistream_send_message
* at the moment.
* Enqueue given message in TX buffer.
* This function is directly wrapped by spistream_send_message
* at the moment.
*/
static inline uint8_t spistream_enqueue_msg(uint8_t * data,
uint16_t num_bytes,
enum spistream_flag wait_for_read)
{
uint16_t pkg_idx, num_packages, num_padding;
uint16_t idx;
static inline uint8_t spistream_enqueue_msg(uint8_t * data,
uint16_t num_bytes,
enum spistream_flag wait_for_read)
{
uint16_t pkg_idx, num_packages, num_padding;
uint16_t idx;
// Enough space in buffer?
if(wait_for_read == SPISTREAM_NO_WAIT ||
spistream_buffers.tx_num_packages+1 < SPISTREAM_TX_MAX_BUFFER_PACKAGES)
{
if(wait_for_read == SPISTREAM_NO_WAIT ||
spistream_buffers.tx_num_packages+1 < SPISTREAM_TX_MAX_BUFFER_PACKAGES)
{
spistream_state.tx_message_cnt++;
// Message id 0 is reserved for invalid packages:
if(spistream_state.tx_message_cnt == SPISTREAM_INVALID_MESSAGE_ID) {
spistream_state.tx_message_cnt = 1;
// Message id 0 is reserved for invalid packages:
if(spistream_state.tx_message_cnt == SPISTREAM_INVALID_MESSAGE_ID) {
spistream_state.tx_message_cnt = 1;
}
// How many packages we need for this message:
num_packages = (num_bytes / SPISTREAM_PACKAGE_SIZE);
if(num_bytes % SPISTREAM_PACKAGE_SIZE != 0) {
num_packages++;
}
// How many zero-bytes we will have at the end of the last package:
if(num_bytes > SPISTREAM_PACKAGE_SIZE) {
// How many packages we need for this message:
num_packages = (num_bytes / SPISTREAM_PACKAGE_SIZE);
if(num_bytes % SPISTREAM_PACKAGE_SIZE != 0) {
num_packages++;
}
// How many zero-bytes we will have at the end of the last package:
if(num_bytes > SPISTREAM_PACKAGE_SIZE) {
num_padding = (num_packages * SPISTREAM_PACKAGE_SIZE) - num_bytes;
}
else {
num_padding = SPISTREAM_PACKAGE_SIZE - num_bytes;
else {
num_padding = SPISTREAM_PACKAGE_SIZE - num_bytes;
}
pkg_idx = spistream_buffers.tx_insert;
pkg_idx = spistream_buffers.tx_insert;
// Convert data to packages and add them to TX buffer:
for(idx = 0; num_packages > 0; idx++) {
if(idx < num_bytes) {
// Convert data to packages and add them to TX buffer:
for(idx = 0; num_packages > 0; idx++) {
if(idx < num_bytes) {
spistream_buffers.tx[pkg_idx].pkg_data[idx % SPISTREAM_PACKAGE_SIZE] = data[idx];
}
else { // padding
spistream_buffers.tx[pkg_idx].pkg_data[idx % SPISTREAM_PACKAGE_SIZE] = 0;
spistream_buffers.tx[pkg_idx].pkg_data[idx % SPISTREAM_PACKAGE_SIZE] = 0;
}
// Last byte in current package:
if((idx % SPISTREAM_PACKAGE_SIZE) == SPISTREAM_PACKAGE_SIZE-1) {
// Last byte in current package:
if((idx % SPISTREAM_PACKAGE_SIZE) == SPISTREAM_PACKAGE_SIZE-1) {
// Finish configuration of current package
// Last package uses field package_cntd to indicate the number
// of padding bytes it contains, as negative number:
if(num_packages == 1) {
spistream_buffers.tx[pkg_idx].package_cntd = -num_padding;
// Last package uses field package_cntd to indicate the number
// of padding bytes it contains, as negative number:
if(num_packages == 1) {
spistream_buffers.tx[pkg_idx].package_cntd = -num_padding;
}
else {
spistream_buffers.tx[pkg_idx].package_cntd = num_packages;
else {
spistream_buffers.tx[pkg_idx].package_cntd = num_packages;
}
spistream_buffers.tx[pkg_idx].message_cnt = spistream_state.tx_message_cnt;
spistream_buffers.tx[pkg_idx].message_cnt = spistream_state.tx_message_cnt;
// Prepare next package:
num_packages--;
// Increment insert pointer with ring buffer overflow:
// Prepare next package:
num_packages--;
// Increment insert pointer with ring buffer overflow:
spistream_buffers.tx_insert++;
if(spistream_buffers.tx_insert >= SPISTREAM_TX_MAX_BUFFER_PACKAGES) {
spistream_buffers.tx_insert = 0;
if(spistream_buffers.tx_insert >= SPISTREAM_TX_MAX_BUFFER_PACKAGES) {
spistream_buffers.tx_insert = 0;
}
// Continue with next package:
pkg_idx = spistream_buffers.tx_insert;
// Continue with next package:
pkg_idx = spistream_buffers.tx_insert;
spistream_buffers.tx_num_packages++;
}
}
#if 0
printf("Enqueue finished. Buffer: \n");
for(pkg_idx = 0; pkg_idx < spistream_buffers.tx_num_packages; pkg_idx++) {
printf("Package %2d | %3d |: ", pkg_idx, spistream_buffers.tx[pkg_idx].package_cntd);
for(idx = 0; idx < SPISTREAM_PACKAGE_SIZE; idx++) {
for(pkg_idx = 0; pkg_idx < spistream_buffers.tx_num_packages; pkg_idx++) {
printf("Package %2d | %3d |: ", pkg_idx, spistream_buffers.tx[pkg_idx].package_cntd);
for(idx = 0; idx < SPISTREAM_PACKAGE_SIZE; idx++) {
printf("%3d ", spistream_buffers.tx[pkg_idx].pkg_data[idx]);
}
printf("\n");
}
#endif
return 1;
return 1;
}
return 0;
return 0;
}
static inline void spistream_dequeue_msg(uint8_t message_id) {
static inline void spistream_dequeue_msg(uint8_t message_id) {
}
/**
* Used from userland: Send num_bytes bytes from buffer over spistream.
* Flags are:
* Used from userland: Send num_bytes bytes from buffer over spistream.
* Flags are:
* - SPISTREAM_WAIT_FOR_READ: Reject packages when TX buffer is full
* and return 0, otherwise enqueue message and return 1.
* - SPISTREAM_NO_WAIT: Overwrite data if TX buffer is full, enqueue
* message and always return 1.
* and return 0, otherwise enqueue message and return 1.
* - SPISTREAM_NO_WAIT: Overwrite data if TX buffer is full, enqueue
* message and always return 1.
*/
static inline uint8_t spistream_send_msg(uint8_t * data,
uint16_t num_bytes,
enum spistream_flag wait_for_read)
static inline uint8_t spistream_send_msg(uint8_t * data,
uint16_t num_bytes,
enum spistream_flag wait_for_read)
{
return spistream_enqueue_msg(data, num_bytes, wait_for_read);
}