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[intermcu] code style

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This commit is contained in:
Christophe De Wagter
2015-11-20 12:12:01 +01:00
parent 4d7bbb55e3
commit 3cf2f3afe0
4 changed files with 32 additions and 31 deletions
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sw/airborne/firmwares/rotorcraft/main_fbw.c
+5 -7
View File
@@ -50,7 +50,7 @@
//#include "generated/modules.h"
/** Fly by wire modes */
typedef enum {FBW_MODE_MANUAL=0,FBW_MODE_AUTO=1,FBW_MODE_FAILSAFE=2} fbw_mode_enum;
typedef enum {FBW_MODE_MANUAL = 0, FBW_MODE_AUTO = 1, FBW_MODE_FAILSAFE = 2} fbw_mode_enum;
fbw_mode_enum fbw_mode;
/* MODULES_FREQUENCY is defined in generated/modules.h
@@ -119,8 +119,8 @@ STATIC_INLINE void handle_periodic_tasks(void)
main_periodic();
}
//if (sys_time_check_and_ack_timer(modules_tid)) {
// TODO
//modules_periodic_task();
// TODO
//modules_periodic_task();
//}
if (sys_time_check_and_ack_timer(radio_control_tid)) {
radio_control_periodic_task();
@@ -159,8 +159,7 @@ STATIC_INLINE void main_periodic(void)
if (fbw_mode == FBW_MODE_MANUAL) {
fbw_mode = RC_LOST_FBW_MODE;
} else {
if (fbw_mode == FBW_MODE_FAILSAFE)
{
if (fbw_mode == FBW_MODE_FAILSAFE) {
// No change: failsafe stays failsafe
} else {
// Lost RC while in working Auto mode
@@ -197,8 +196,7 @@ static void autopilot_on_rc_frame(void)
/* get autopilot fbw mode as set by RADIO_MODE 3-way switch */
if (radio_control.values[RADIO_FBW_MODE] < (MIN_PPRZ / 2)) {
fbw_mode = FBW_MODE_MANUAL;
}
else {
} else {
fbw_mode = FBW_MODE_AUTO;
}
sw/airborne/subsystems/datalink/xbee.c
+2 -1
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@@ -191,7 +191,8 @@ void xbee_init(void)
#ifdef XBEE_BAUD_ALTERNATE
// Badly configured... try the alternate baudrate:
uart_periph_set_baudrate(&(XBEE_UART), XBEE_BAUD_ALTERNATE); // FIXME add set_baudrate to generic device, assuming uart for now
uart_periph_set_baudrate(&(XBEE_UART),
XBEE_BAUD_ALTERNATE); // FIXME add set_baudrate to generic device, assuming uart for now
if (xbee_try_to_enter_api(dev)) {
// The alternate baudrate worked,
print_string(dev, XBEE_ATBD_CODE);
sw/airborne/subsystems/intermcu/intermcu_ap.c
+13 -12
View File
@@ -35,7 +35,7 @@ static struct link_device *intermcu_device = (&((INTERMCU_LINK).device));
static struct pprz_transport intermcu_transport;
struct intermcu_t inter_mcu;
static inline void intermcu_parse_msg(struct transport_rx * trans, void (*rc_frame_handler)(void));
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void));
void intermcu_init(void)
{
@@ -55,25 +55,26 @@ void intermcu_periodic(void)
void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode __attribute__((unused)))
{
pprz_msg_send_IMCU_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
INTERMCU_AP, 0, COMMANDS_NB, command_values); //TODO: Fix status
INTERMCU_AP, 0, COMMANDS_NB, command_values); //TODO: Fix status
}
static inline void intermcu_parse_msg(struct transport_rx * trans, void (*rc_frame_handler)(void))
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void))
{
/* Parse the Inter MCU message */
uint8_t msg_id = trans->payload[1];
switch (msg_id) {
case DL_IMCU_RADIO_COMMANDS: {
uint8_t i;
uint8_t size = DL_IMCU_RADIO_COMMANDS_values_length(trans->payload);
int16_t *rc_values = DL_IMCU_RADIO_COMMANDS_values(trans->payload);
for(i = 0; i < size; i++)
radio_control.values[i] = rc_values[i];
uint8_t i;
uint8_t size = DL_IMCU_RADIO_COMMANDS_values_length(trans->payload);
int16_t *rc_values = DL_IMCU_RADIO_COMMANDS_values(trans->payload);
for (i = 0; i < size; i++) {
radio_control.values[i] = rc_values[i];
}
radio_control.frame_cpt++;
radio_control.time_since_last_frame = 0;
radio_control.status = RC_OK;
rc_frame_handler();
radio_control.frame_cpt++;
radio_control.time_since_last_frame = 0;
radio_control.status = RC_OK;
rc_frame_handler();
break;
}
sw/airborne/subsystems/intermcu/intermcu_fbw.c
+12 -11
View File
@@ -39,7 +39,7 @@ static struct pprz_transport intermcu_transport;
struct intermcu_t inter_mcu;
pprz_t intermcu_commands[COMMANDS_NB];
static inline void intermcu_parse_msg(struct transport_rx * trans, void (*commands_frame_handler)(void));
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void));
void intermcu_init(void)
{
@@ -59,7 +59,7 @@ void intermcu_periodic(void)
void intermcu_on_rc_frame(void)
{
pprz_msg_send_IMCU_RADIO_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
INTERMCU_FBW, 0, RADIO_CONTROL_NB_CHANNEL, radio_control.values); //TODO: Fix status
INTERMCU_FBW, 0, RADIO_CONTROL_NB_CHANNEL, radio_control.values); //TODO: Fix status
}
void intermcu_send_status(uint8_t mode)
@@ -69,21 +69,22 @@ void intermcu_send_status(uint8_t mode)
//FIXME
}
static inline void intermcu_parse_msg(struct transport_rx * trans, void (*commands_frame_handler)(void))
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void))
{
/* Parse the Inter MCU message */
uint8_t msg_id = trans->payload[1];
switch (msg_id) {
case DL_IMCU_COMMANDS: {
uint8_t i;
uint8_t size = DL_IMCU_COMMANDS_values_length(trans->payload);
int16_t *new_commands = DL_IMCU_COMMANDS_values(trans->payload);
for(i = 0; i < size; i++)
intermcu_commands[i] = new_commands[i];
uint8_t i;
uint8_t size = DL_IMCU_COMMANDS_values_length(trans->payload);
int16_t *new_commands = DL_IMCU_COMMANDS_values(trans->payload);
for (i = 0; i < size; i++) {
intermcu_commands[i] = new_commands[i];
}
inter_mcu.status = INTERMCU_OK;
inter_mcu.time_since_last_frame = 0;
commands_frame_handler();
inter_mcu.status = INTERMCU_OK;
inter_mcu.time_since_last_frame = 0;
commands_frame_handler();
break;
}