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[lpc21] only indentation cleanup

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This commit is contained in:
Felix Ruess
2013-08-06 16:03:02 +02:00
parent d0c75fe3d0
commit 2ba9d5de39
1 changed files with 29 additions and 29 deletions
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sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h
+29 -29
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@@ -57,33 +57,33 @@ extern uint8_t ppm_pulse; /* 1=start of pulse, 0=end of pulse */
#define PPM_WIDTH SERVOS_TICS_OF_USEC(550)
#define ACTUATORS_IT TIR_MR1I
#define ServosPPMMat_ISR() { \
if (servos_PPM_idx == 0) { \
servos_delay = SERVO_REFRESH_TICS; \
} \
if (servos_PPM_idx < _PPM_NB_CHANNELS ) { \
if (ppm_pulse) { \
T0MR1 += PPM_WIDTH; \
servos_delay -= PPM_WIDTH; \
} else { \
T0MR1 += servos_values[servos_PPM_idx] - PPM_WIDTH; \
servos_delay -= servos_values[servos_PPM_idx] - PPM_WIDTH; \
servos_PPM_idx++; \
} \
} else { /* servos_PPM_idx=_PPM_NB_CHANNELS */ \
if (ppm_pulse) { \
T0MR1 += PPM_WIDTH; \
servos_delay -= PPM_WIDTH; \
} else { \
servos_PPM_idx = 0; \
T0MR1 += servos_delay - PPM_WIDTH; \
} \
} \
if (!ppm_pulse) { \
/* lower clock pin */ \
T0EMR &= ~TEMR_EM1; \
} \
/* toggle ppm_pulse flag */ \
ppm_pulse ^= 1; \
}
#define ServosPPMMat_ISR() { \
if (servos_PPM_idx == 0) { \
servos_delay = SERVO_REFRESH_TICS; \
} \
if (servos_PPM_idx < _PPM_NB_CHANNELS ) { \
if (ppm_pulse) { \
T0MR1 += PPM_WIDTH; \
servos_delay -= PPM_WIDTH; \
} else { \
T0MR1 += servos_values[servos_PPM_idx] - PPM_WIDTH; \
servos_delay -= servos_values[servos_PPM_idx] - PPM_WIDTH; \
servos_PPM_idx++; \
} \
} else { /* servos_PPM_idx=_PPM_NB_CHANNELS */ \
if (ppm_pulse) { \
T0MR1 += PPM_WIDTH; \
servos_delay -= PPM_WIDTH; \
} else { \
servos_PPM_idx = 0; \
T0MR1 += servos_delay - PPM_WIDTH; \
} \
} \
if (!ppm_pulse) { \
/* lower clock pin */ \
T0EMR &= ~TEMR_EM1; \
} \
/* toggle ppm_pulse flag */ \
ppm_pulse ^= 1; \
}
#endif /* SERVOS_PPM_HW_H */