Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 13:55:40 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

whitespace cleanup and include guard fix

Browse Source
This commit is contained in:
Felix Ruess
2013-08-15 14:23:01 +02:00
parent 2091a32bbd
commit 7ae656c766
3 changed files with 37 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/boards/krooz/imu_krooz.c
+4 -4
View File
@@ -89,7 +89,7 @@ void imu_impl_init( void )
// Init median filters // Init median filters
#if IMU_KROOZ_USE_GYRO_MEDIAN_FILTER #if IMU_KROOZ_USE_GYRO_MEDIAN_FILTER
InitMedianFilterRatesInt(median_gyro); InitMedianFilterRatesInt(median_gyro);
#endif #endif
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER #if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
InitMedianFilterVect3Int(median_accel); InitMedianFilterVect3Int(median_accel);
#endif #endif
@@ -124,17 +124,17 @@ void imu_periodic( void )
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER #if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled); UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif #endif
RATES_SMUL(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, IMU_KROOZ_GYRO_AVG_FILTER); RATES_SMUL(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, IMU_KROOZ_GYRO_AVG_FILTER);
RATES_ADD(imu_krooz.gyro_filtered, imu.gyro_unscaled); RATES_ADD(imu_krooz.gyro_filtered, imu.gyro_unscaled);
RATES_SDIV(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, (IMU_KROOZ_GYRO_AVG_FILTER + 1)); RATES_SDIV(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, (IMU_KROOZ_GYRO_AVG_FILTER + 1));
RATES_COPY(imu.gyro_unscaled, imu_krooz.gyro_filtered); RATES_COPY(imu.gyro_unscaled, imu_krooz.gyro_filtered);
VECT3_SMUL(imu_krooz.accel_filtered, imu_krooz.accel_filtered, IMU_KROOZ_ACCEL_AVG_FILTER); VECT3_SMUL(imu_krooz.accel_filtered, imu_krooz.accel_filtered, IMU_KROOZ_ACCEL_AVG_FILTER);
VECT3_ADD(imu_krooz.accel_filtered, imu.accel_unscaled); VECT3_ADD(imu_krooz.accel_filtered, imu.accel_unscaled);
VECT3_SDIV(imu_krooz.accel_filtered, imu_krooz.accel_filtered, (IMU_KROOZ_ACCEL_AVG_FILTER + 1)); VECT3_SDIV(imu_krooz.accel_filtered, imu_krooz.accel_filtered, (IMU_KROOZ_ACCEL_AVG_FILTER + 1));
VECT3_COPY(imu.accel_unscaled, imu_krooz.accel_filtered); VECT3_COPY(imu.accel_unscaled, imu_krooz.accel_filtered);
RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0); RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0); VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
imu_krooz.meas_nb = 0; imu_krooz.meas_nb = 0;
sw/airborne/modules/max7456/max7456.c
+28 -28
View File
@@ -18,12 +18,12 @@
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
/** /**
* @file modules/max7456/max7456.c * @file modules/max7456/max7456.c
* Maxim MAX7456 single-channel monochrome on-screen display driver. * Maxim MAX7456 single-channel monochrome on-screen display driver.
* *
*/ */
#include "std.h" #include "std.h"
#include "stdio.h" #include "stdio.h"
@@ -66,7 +66,7 @@ uint8_t step = 0;
uint16_t osd_char_address = 0; uint16_t osd_char_address = 0;
uint8_t osd_attr = FALSE; uint8_t osd_attr = FALSE;
enum max7456_osd_status_codes { enum max7456_osd_status_codes {
OSD_UNINIT, OSD_UNINIT,
OSD_INIT1, OSD_INIT1,
OSD_INIT2, OSD_INIT2,
@@ -118,7 +118,7 @@ void max7456_periodic(void) {
float temp = 0; float temp = 0;
//This code is executed always and checks if the "osd_enable" var has been changed by telemetry. //This code is executed always and checks if the "osd_enable" var has been changed by telemetry.
//If yes then it commands a reset but this time turns on or off the osd overlay, not the video. //If yes then it commands a reset but this time turns on or off the osd overlay, not the video.
if (max7456_osd_status == OSD_IDLE) { if (max7456_osd_status == OSD_IDLE) {
if(osd_enable > 1) if(osd_enable > 1)
osd_enable = 1; osd_enable = 1;
@@ -134,8 +134,8 @@ void max7456_periodic(void) {
max7456_trans.status = SPITransDone; max7456_trans.status = SPITransDone;
max7456_trans.output_buf[0] = OSD_VM0_REG; max7456_trans.output_buf[0] = OSD_VM0_REG;
//This operation needs at least 100us but when the periodic function will be invoked again //This operation needs at least 100us but when the periodic function will be invoked again
//sufficient time will have elapsed even with at a periodic frequency of 1000 Hz //sufficient time will have elapsed even with at a periodic frequency of 1000 Hz
max7456_trans.output_buf[1] = OSD_RESET; max7456_trans.output_buf[1] = OSD_RESET;
max7456_osd_status = OSD_INIT1; max7456_osd_status = OSD_INIT1;
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans); spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
} }
@@ -145,7 +145,7 @@ void max7456_periodic(void) {
max7456_trans.input_length = 1; max7456_trans.input_length = 1;
max7456_trans.output_buf[0] = OSD_OSDBL_REG_R; max7456_trans.output_buf[0] = OSD_OSDBL_REG_R;
max7456_osd_status = OSD_INIT3; max7456_osd_status = OSD_INIT3;
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans); spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
} }
else else
if (max7456_osd_status == OSD_IDLE && osd_enable > 0) { // DRAW THE OSD SCREEN if (max7456_osd_status == OSD_IDLE && osd_enable > 0) { // DRAW THE OSD SCREEN
@@ -199,13 +199,13 @@ void max7456_periodic(void) {
return; return;
} }
void max7456_event(void) { void max7456_event(void) {
static uint8_t x = 0; static uint8_t x = 0;
if (max7456_trans.status == SPITransSuccess) { if (max7456_trans.status == SPITransSuccess) {
max7456_trans.status = SPITransDone; max7456_trans.status = SPITransDone;
switch (max7456_osd_status) { switch (max7456_osd_status) {
case (OSD_INIT1): case (OSD_INIT1):
max7456_osd_status = OSD_INIT2; max7456_osd_status = OSD_INIT2;
@@ -240,7 +240,7 @@ void max7456_event(void) {
max7456_osd_status = OSD_S_STEP2; max7456_osd_status = OSD_S_STEP2;
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans); spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
break; break;
case (OSD_S_STEP2): case (OSD_S_STEP2):
max7456_trans.output_length = 2; max7456_trans.output_length = 2;
max7456_trans.output_buf[0] = OSD_DMM_REG; max7456_trans.output_buf[0] = OSD_DMM_REG;
max7456_trans.output_buf[1] = OSD_AUTO_INCREMENT_MODE | osd_attr; max7456_trans.output_buf[1] = OSD_AUTO_INCREMENT_MODE | osd_attr;
@@ -248,18 +248,18 @@ void max7456_event(void) {
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans); spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
x = 0; x = 0;
break; break;
case (OSD_S_STEP3): case (OSD_S_STEP3):
max7456_trans.output_length = 1; //1 byte tranfers, auto address incrementing. max7456_trans.output_length = 1; //1 byte tranfers, auto address incrementing.
if (osd_string[x] != 0XFF) { if (osd_string[x] != 0XFF) {
max7456_trans.output_buf[0] = osd_string[x++]; max7456_trans.output_buf[0] = osd_string[x++];
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans); spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
} }
else { else {
max7456_trans.output_buf[0] = 0xFF; //Exit the auto increment mode max7456_trans.output_buf[0] = 0xFF; //Exit the auto increment mode
max7456_osd_status = OSD_FINISHED; max7456_osd_status = OSD_FINISHED;
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans); spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
} }
break; break;
case (OSD_FINISHED): case (OSD_FINISHED):
osd_attr = 0; osd_attr = 0;
max7456_trans.status = SPITransDone; max7456_trans.status = SPITransDone;
@@ -274,13 +274,13 @@ void max7456_event(void) {
static char ascii_to_osd_c(char c) { static char ascii_to_osd_c(char c) {
if (c >= '0' && c <= '9') { if (c >= '0' && c <= '9') {
if (c == '0') if (c == '0')
c -= 38; c -= 38;
else else
c -= 48; c -= 48;
} }
else { else {
if (c >= 'A' && c <= 'Z') if (c >= 'A' && c <= 'Z')
c -= 54; c -= 54;
else { else {
if (c >= 'a' && c <= 'z') if (c >= 'a' && c <= 'z')
@@ -324,12 +324,12 @@ static void osd_put_s(char *string, uint8_t attributes, uint8_t char_nb, uint8_t
// translate the string and put it to the "osd_string" '\0' = 0xff // translate the string and put it to the "osd_string" '\0' = 0xff
x = 0; x = 0;
while (*(string+x) != '\0') { while (*(string+x) != '\0') {
osd_string[x] = ascii_to_osd_c(*(string+x)); osd_string[x] = ascii_to_osd_c(*(string+x));
x++; x++;
} }
osd_string[x] = ascii_to_osd_c(*(string+x)); osd_string[x] = ascii_to_osd_c(*(string+x));
for (x=0; x < sizeof(osd_string); x++) { for (x=0; x < sizeof(osd_string); x++) {
if(osd_string[x] == 0xff) if(osd_string[x] == 0xff)
break; break;
} }
@@ -340,7 +340,7 @@ static void osd_put_s(char *string, uint8_t attributes, uint8_t char_nb, uint8_t
} }
osd_string[x] = 0xff; osd_string[x] = 0xff;
osd_attr = attributes; osd_attr = attributes;
//TRIGGER THE SPI TRANSFERS. The rest of the spi transfers occur in the "max7456_event" function. //TRIGGER THE SPI TRANSFERS. The rest of the spi transfers occur in the "max7456_event" function.
if (max7456_osd_status == OSD_IDLE){ if (max7456_osd_status == OSD_IDLE){
@@ -375,11 +375,11 @@ static bool_t _osd_sprintf(char* buffer, char* string, float value) {
// Search for the prameter start and stop positions. // Search for the prameter start and stop positions.
while (*(string+x) != '\0'){ while (*(string+x) != '\0'){
if (*(string+x) == '%'){ if (*(string+x) == '%'){
param_start = x; param_start = x;
} }
else else
if (*(string+x) == 'f') { if (*(string+x) == 'f') {
param_end = x; param_end = x;
break; break;
} }
x++; x++;
@@ -413,30 +413,30 @@ static bool_t _osd_sprintf(char* buffer, char* string, float value) {
to_asc[y] = (i_dec % 10) + 48; //Write at least one digit even if value is zero. to_asc[y] = (i_dec % 10) + 48; //Write at least one digit even if value is zero.
i_dec /= 10; i_dec /= 10;
if (i_dec <= 0) { // This way the leading zero is ommited. if (i_dec <= 0) { // This way the leading zero is ommited.
if(value < 0) { if(value < 0) {
y--; to_asc[y] = '-'; // Place the minus sign if needed. y--; to_asc[y] = '-'; // Place the minus sign if needed.
} }
break; break;
} }
else else
y--; y--;
} while(1); } while(1);
// Fill the buffer with the characters in the beggining of the string if any. // Fill the buffer with the characters in the beggining of the string if any.
for (x=0; x<param_start; x++) { for (x=0; x<param_start; x++) {
*(buffer+x) = *(string+x); *(buffer+x) = *(string+x);
} }
// x is now pointing to the next character in osd_string. // x is now pointing to the next character in osd_string.
// y is already pointing to the first digit or negative sign in "to_asc" array. // y is already pointing to the first digit or negative sign in "to_asc" array.
while (y < sizeof(to_asc)) { while (y < sizeof(to_asc)) {
*(buffer + x) = to_asc[y]; *(buffer + x) = to_asc[y];
x++; y++; x++; y++;
} }
// x is now pointing to the next character in osd_string. // x is now pointing to the next character in osd_string.
// "param_end" is pointing to the last format character in the string. // "param_end" is pointing to the last format character in the string.
do { do {
param_end++; param_end++;
*(buffer + x++) = *(string+param_end); *(buffer + x++) = *(string+param_end);
} while(*(string+param_end) != '\0'); //Write the rest of the string including the terminating char. } while(*(string+param_end) != '\0'); //Write the rest of the string including the terminating char.
sw/airborne/modules/max7456/max7456_regs.h
+5 -6
View File
@@ -1,5 +1,5 @@
#ifndef MAX7456_REGS_H #ifndef MAX7456_REGS_H
#define MAX7456_REG_H #define MAX7456_REGS_H
//OSD REGISTER ADDRESSES //OSD REGISTER ADDRESSES
#define OSD_VM0_REG 0x00 #define OSD_VM0_REG 0x00
@@ -13,17 +13,17 @@
#define OSD_STAT_REG 0xA0 #define OSD_STAT_REG 0xA0
//OSD BIT POSITIONS //OSD BIT POSITIONS
#define OSD_VIDEO_MODE_PAL (1<<6) // Default = NTSC #define OSD_VIDEO_MODE_PAL (1<<6) // Default = NTSC
#define OSD_SYNC_INTERNAL ((1<<5)|(1<<4)) // Default = AUTO #define OSD_SYNC_INTERNAL ((1<<5)|(1<<4)) // Default = AUTO
#define OSD_SYNC_EXTERNAL ((1<<5) // Default = AUTO #define OSD_SYNC_EXTERNAL ((1<<5) // Default = AUTO
#define OSD_IMAGE_ENABLE (1<<3) // Default = OSD OFF #define OSD_IMAGE_ENABLE (1<<3) // Default = OSD OFF
#define OSD_REFRESH_ON_NEXT_VSYNC (1<<2) // Default = immediately refresh video #define OSD_REFRESH_ON_NEXT_VSYNC (1<<2) // Default = immediately refresh video
#define OSD_RESET (1<<1) // VM0 reg, hardware set to 0 after reset #define OSD_RESET (1<<1) // VM0 reg, hardware set to 0 after reset
#define OSD_VOUT_DISABLE (1<<0) // default= VIDEO OUT ENABLED #define OSD_VOUT_DISABLE (1<<0) // default= VIDEO OUT ENABLED
#define OSD_8BIT_MODE (1<<6) // default= 16 BIT MODE #define OSD_8BIT_MODE (1<<6) // default= 16 BIT MODE
#define OSD_BLINK_CHAR (1<<4) // default= No BLINKING #define OSD_BLINK_CHAR (1<<4) // default= No BLINKING
#define OSD_INVERT_PIXELS (1<<3) // default= No INVERSION #define OSD_INVERT_PIXELS (1<<3) // default= No INVERSION
#define OSD_CLEAR_DISPLAY_MEMORY (1<<2) // DMM reg, default = 0 #define OSD_CLEAR_DISPLAY_MEMORY (1<<2) // DMM reg, default = 0
#define OSD_AUTO_INCREMENT_MODE (1<<0) // default = NO AUTO INCREMENT #define OSD_AUTO_INCREMENT_MODE (1<<0) // default = NO AUTO INCREMENT
// MAX7456 VIDEO_MODE_0 register // MAX7456 VIDEO_MODE_0 register
@@ -104,5 +104,4 @@
#define OSDBL_RD 0xEC #define OSDBL_RD 0xEC
#define OSDBL_10_DisableAutoBlackLevel 0x10 #define OSDBL_10_DisableAutoBlackLevel 0x10
#endif #endif //MAX7456_REGS_H