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fix line endings

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This commit is contained in:
Felix Ruess
2011-04-01 21:11:53 +02:00
parent 721ff7484c
commit 9ab9ccb760
4 changed files with 673 additions and 673 deletions
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sw/airborne/modules/ins/endian_functions.c
+74 -74
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@@ -1,74 +1,74 @@
/**********************************************************************************************
* Ryan Mechatronics firmware (C) 2007 - All Rights Reserved
* CONFIDENTIAL: NO PART OF THIS CODE MAY BE RELEASED WITHOUT WRITTEN PERMISSION
* ---------------------------------------------------------------------------------------------
*
* Module:
* Endian Functions - Handles various low level endian swap functions
*
***********************************************************************************************/
//-----------------------------------------------------------------------------------
// Includes
//-----------------------------------------------------------------------------------
#include "endian_functions.h"
#include <globals.h>
short int ShortSwap( short int s )
{
unsigned char b1, b2;
b1 = s & 255;
b2 = (s >> 8) & 255;
return (b1 << 8) + b2;
}
short int ShortNoSwap( short int s )
{
return s;
}
int LongSwap (int i)
{
unsigned char b1, b2, b3, b4;
b1 = i & 255;
b2 = ( i >> 8 ) & 255;
b3 = ( i>>16 ) & 255;
b4 = ( i>>24 ) & 255;
return ((int)b1 << 24) + ((int)b2 << 16) + ((int)b3 << 8) + b4;
}
int LongNoSwap( int i )
{
return i;
}
float FloatSwap( float f )
{
union
{
float f;
unsigned char b[4];
} dat1, dat2;
dat1.f = f;
dat2.b[0] = dat1.b[3];
dat2.b[1] = dat1.b[2];
dat2.b[2] = dat1.b[1];
dat2.b[3] = dat1.b[0];
return dat2.f;
}
float FloatNoSwap( float f )
{
return f;
}
/**********************************************************************************************
* Ryan Mechatronics firmware (C) 2007 - All Rights Reserved
* CONFIDENTIAL: NO PART OF THIS CODE MAY BE RELEASED WITHOUT WRITTEN PERMISSION
* ---------------------------------------------------------------------------------------------
*
* Module:
* Endian Functions - Handles various low level endian swap functions
*
***********************************************************************************************/
//-----------------------------------------------------------------------------------
// Includes
//-----------------------------------------------------------------------------------
#include "endian_functions.h"
#include <globals.h>
short int ShortSwap( short int s )
{
unsigned char b1, b2;
b1 = s & 255;
b2 = (s >> 8) & 255;
return (b1 << 8) + b2;
}
short int ShortNoSwap( short int s )
{
return s;
}
int LongSwap (int i)
{
unsigned char b1, b2, b3, b4;
b1 = i & 255;
b2 = ( i >> 8 ) & 255;
b3 = ( i>>16 ) & 255;
b4 = ( i>>24 ) & 255;
return ((int)b1 << 24) + ((int)b2 << 16) + ((int)b3 << 8) + b4;
}
int LongNoSwap( int i )
{
return i;
}
float FloatSwap( float f )
{
union
{
float f;
unsigned char b[4];
} dat1, dat2;
dat1.f = f;
dat2.b[0] = dat1.b[3];
dat2.b[1] = dat1.b[2];
dat2.b[2] = dat1.b[1];
dat2.b[3] = dat1.b[0];
return dat2.f;
}
float FloatNoSwap( float f )
{
return f;
}
sw/airborne/modules/ins/endian_functions.h
+26 -26
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@@ -1,26 +1,26 @@
/**********************************************************************************************
* Ryan Mechatronics firmware (C) 2007 - All Rights Reserved
* CONFIDENTIAL: NO PART OF THIS CODE MAY BE RELEASED WITHOUT WRITTEN PERMISSION
* ---------------------------------------------------------------------------------------------
*
* Module:
* Endian Functions - Handles various low level endian swap functions
*
***********************************************************************************************/
#ifndef ENDIAN_H
#define ENDIAN_H
short int ShortSwap( short int s );
short int ShortNoSwap( short int s );
int LongSwap (int i);
int LongNoSwap( int i );
float FloatSwap( float f );
float FloatNoSwap( float f );
#endif
/**********************************************************************************************
* Ryan Mechatronics firmware (C) 2007 - All Rights Reserved
* CONFIDENTIAL: NO PART OF THIS CODE MAY BE RELEASED WITHOUT WRITTEN PERMISSION
* ---------------------------------------------------------------------------------------------
*
* Module:
* Endian Functions - Handles various low level endian swap functions
*
***********************************************************************************************/
#ifndef ENDIAN_H
#define ENDIAN_H
short int ShortSwap( short int s );
short int ShortNoSwap( short int s );
int LongSwap (int i);
int LongNoSwap( int i );
float FloatSwap( float f );
float FloatNoSwap( float f );
#endif
sw/airborne/modules/ins/imu_chimu.c
+450 -450
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sw/airborne/modules/ins/imu_chimu.h
+123 -123
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@@ -1,123 +1,123 @@
/*
* Copyright (C) 2011 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/*---------------------------------------------------------------------------
Copyright (c) Ryan Mechatronics 2008. All Rights Reserved.
File: *.c
Description: CHIMU Protocol Parser
Public Functions:
CHIMU_Init Create component instance
CHIMU_Done Free component instance
CHIMU_Parse Parse the RX byte stream message
Applicable Documents:
CHIMU parsing documentation
---------------------------------------------------------------------------*/
#include "paparazzi.h"
//---[Defines]------------------------------------------------------
#ifndef CHIMU_DEFINED_H
#define CHIMU_DEFINED_H
typedef struct {
float phi;
float theta;
float psi;
} CHIMU_Euler;
typedef struct {
float x;
float y;
float z;
} CHIMU_Vector;
typedef struct {
float s;
CHIMU_Vector v;
} CHIMU_Quaternion;
typedef struct {
CHIMU_Euler euler;
CHIMU_Quaternion q;
} CHIMU_attitude_data;
#define FALSE (1==0)
#define TRUE (1==1)
typedef struct {
int cputemp;
int acc[3];
int rate[3];
int mag[3];
int spare1;
int euler[3];
} CHIMU_sensor_data;
extern uint8_t gCHIMU_SW_Exclaim;
extern char gCHIMU_SW_Major;
extern char gCHIMU_SW_Minor;
extern uint16_t gCHIMU_SW_SerialNumber;
#define CHIMU_RX_BUFFERSIZE 128
typedef struct {
unsigned char m_State; // Current state protocol parser is in
unsigned char m_Checksum; // Calculated CHIMU sentence checksum
unsigned char m_ReceivedChecksum; // Received CHIMU sentence checksum (if exists)
unsigned char m_Index; // Index used for command and data
unsigned char m_PayloadIndex;
unsigned char m_MsgID;
unsigned char m_MsgLen;
unsigned char m_TempDeviceID;
unsigned char m_DeviceID;
unsigned char m_Payload[CHIMU_RX_BUFFERSIZE]; // CHIMU data
unsigned char m_FullMessage[CHIMU_RX_BUFFERSIZE]; // CHIMU data
CHIMU_attitude_data m_attitude;
CHIMU_attitude_data m_attrates;
CHIMU_sensor_data m_sensor;
} CHIMU_PARSER_DATA;
/*---------------------------------------------------------------------------
Name: CHIMU_Init
---------------------------------------------------------------------------*/
void CHIMU_Init(CHIMU_PARSER_DATA *pstData);
/*---------------------------------------------------------------------------
Name: CHIMU_Parse
Abstract: Parse message input test mode, returns TRUE if new data.
---------------------------------------------------------------------------*/
unsigned char CHIMU_Parse(unsigned char btData, unsigned char bInputType, CHIMU_PARSER_DATA *pstData);
unsigned char CHIMU_ProcessMessage(unsigned char *pMsgID, unsigned char *pPayloadData, CHIMU_PARSER_DATA *pstData);
CHIMU_attitude_data GetEulersFromQuat(CHIMU_attitude_data attitude);
#endif // CHIMU_DEFINED
/*
* Copyright (C) 2011 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/*---------------------------------------------------------------------------
Copyright (c) Ryan Mechatronics 2008. All Rights Reserved.
File: *.c
Description: CHIMU Protocol Parser
Public Functions:
CHIMU_Init Create component instance
CHIMU_Done Free component instance
CHIMU_Parse Parse the RX byte stream message
Applicable Documents:
CHIMU parsing documentation
---------------------------------------------------------------------------*/
#include "paparazzi.h"
//---[Defines]------------------------------------------------------
#ifndef CHIMU_DEFINED_H
#define CHIMU_DEFINED_H
typedef struct {
float phi;
float theta;
float psi;
} CHIMU_Euler;
typedef struct {
float x;
float y;
float z;
} CHIMU_Vector;
typedef struct {
float s;
CHIMU_Vector v;
} CHIMU_Quaternion;
typedef struct {
CHIMU_Euler euler;
CHIMU_Quaternion q;
} CHIMU_attitude_data;
#define FALSE (1==0)
#define TRUE (1==1)
typedef struct {
int cputemp;
int acc[3];
int rate[3];
int mag[3];
int spare1;
int euler[3];
} CHIMU_sensor_data;
extern uint8_t gCHIMU_SW_Exclaim;
extern char gCHIMU_SW_Major;
extern char gCHIMU_SW_Minor;
extern uint16_t gCHIMU_SW_SerialNumber;
#define CHIMU_RX_BUFFERSIZE 128
typedef struct {
unsigned char m_State; // Current state protocol parser is in
unsigned char m_Checksum; // Calculated CHIMU sentence checksum
unsigned char m_ReceivedChecksum; // Received CHIMU sentence checksum (if exists)
unsigned char m_Index; // Index used for command and data
unsigned char m_PayloadIndex;
unsigned char m_MsgID;
unsigned char m_MsgLen;
unsigned char m_TempDeviceID;
unsigned char m_DeviceID;
unsigned char m_Payload[CHIMU_RX_BUFFERSIZE]; // CHIMU data
unsigned char m_FullMessage[CHIMU_RX_BUFFERSIZE]; // CHIMU data
CHIMU_attitude_data m_attitude;
CHIMU_attitude_data m_attrates;
CHIMU_sensor_data m_sensor;
} CHIMU_PARSER_DATA;
/*---------------------------------------------------------------------------
Name: CHIMU_Init
---------------------------------------------------------------------------*/
void CHIMU_Init(CHIMU_PARSER_DATA *pstData);
/*---------------------------------------------------------------------------
Name: CHIMU_Parse
Abstract: Parse message input test mode, returns TRUE if new data.
---------------------------------------------------------------------------*/
unsigned char CHIMU_Parse(unsigned char btData, unsigned char bInputType, CHIMU_PARSER_DATA *pstData);
unsigned char CHIMU_ProcessMessage(unsigned char *pMsgID, unsigned char *pPayloadData, CHIMU_PARSER_DATA *pstData);
CHIMU_attitude_data GetEulersFromQuat(CHIMU_attitude_data attitude);
#endif // CHIMU_DEFINED