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AP_HAL_Linux: RCOutput_Bebop: follow coding style 

Minor changes to follow coding style and improve readability:

    - sort headers
    - move struct definition to compilation unit rather than header
    - Add braces to if, for, etc
This commit is contained in:
Lucas De Marchi 2016-07-12 15:55:39 -03:00
parent 7fb5db8077
commit 08ea1ea263
4 changed files with 72 additions and 48 deletions
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1
libraries/AP_HAL/AP_HAL_Boards.h
View File

@ -231,6 +231,7 @@
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm"
#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
/* focal length 3.6 um, 2x binning in each direction
* 240x240 crop rescaled to 64x64 */

2
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -170,7 +170,7 @@ static RCOutput_Raspilot rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static RCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(1, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, false, 0, MINNOW_GPIO_S5_1);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT

106
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
View File

@ -1,6 +1,8 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#include "RCOutput_Bebop.h"
#include <errno.h>
#include <poll.h>
#include <pthread.h>
@ -9,27 +11,26 @@
#include <sys/mman.h>
#include <sys/time.h>
#include <unistd.h>
#include <utility>
#include <AP_HAL/utility/sparse-endian.h>
#include "RCOutput_Bebop.h"
#include "Util.h"
#include <utility>
/* BEBOP BLDC registers description */
#define BEBOP_BLDC_I2C_ADDR 0x08
#define BEBOP_BLDC_STARTPROP 0x40
#define BEBOP_BLDC_SETREFSPEED 0x02
struct bldc_ref_speed_data {
struct PACKED bldc_ref_speed_data {
uint8_t cmd;
uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
uint8_t enable_security;
uint8_t checksum;
}__attribute__((packed));
};
#define BEBOP_BLDC_GETOBSDATA 0x20
struct bldc_obs_data {
struct PACKED bldc_obs_data {
uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
uint16_t batt_mv;
uint8_t status;
@ -37,7 +38,18 @@ struct bldc_obs_data {
uint8_t motors_err;
uint8_t temp;
uint8_t checksum;
}__attribute__((packed));
};
struct PACKED bldc_info {
uint8_t version_maj;
uint8_t version_min;
uint8_t type;
uint8_t n_motors;
uint16_t n_flights;
uint16_t last_flight_time;
uint32_t total_flight_time;
uint8_t last_error;
};
#define BEBOP_BLDC_TOGGLE_GPIO 0x4d
#define BEBOP_BLDC_GPIO_RESET (1 << 0)
@ -60,7 +72,7 @@ struct bldc_obs_data {
#define BEBOP_BLDC_MAX_RPM_2 12200
/* Priority of the thread controlling the BLDC via i2c
* set to 14, which is the same as the UART
* set to 14, which is the same as the UART
*/
#define RCOUT_BEBOP_RTPRIO 14
/* Set timeout to 500ms */
@ -75,11 +87,11 @@ using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
RCOutput_Bebop::RCOutput_Bebop(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev):
_dev(std::move(dev)),
_min_pwm(BEBOP_BLDC_MIN_PERIOD_US),
_max_pwm(BEBOP_BLDC_MAX_PERIOD_US),
_state(BEBOP_BLDC_STOPPED)
RCOutput_Bebop::RCOutput_Bebop(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: _dev(std::move(dev))
, _min_pwm(BEBOP_BLDC_MIN_PERIOD_US)
, _max_pwm(BEBOP_BLDC_MAX_PERIOD_US)
, _state(BEBOP_BLDC_STOPPED)
{
memset(_period_us, 0, sizeof(_period_us));
memset(_request_period_us, 0, sizeof(_request_period_us));
@ -101,13 +113,14 @@ void RCOutput_Bebop::_start_prop()
{
uint8_t data = BEBOP_BLDC_STARTPROP;
if (!_dev->get_semaphore()->take(0))
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer(&data, sizeof(data), nullptr, 0);
if (_dev->transfer(&data, sizeof(data), nullptr, 0)) {
_state = BEBOP_BLDC_STARTED;
}
_dev->get_semaphore()->give();
_state = BEBOP_BLDC_STARTED;
}
void RCOutput_Bebop::_set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM])
@ -117,14 +130,16 @@ void RCOutput_Bebop::_set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM])
data.cmd = BEBOP_BLDC_SETREFSPEED;
for (i=0; i<BEBOP_BLDC_MOTORS_NUM; i++)
for (i=0; i<BEBOP_BLDC_MOTORS_NUM; i++) {
data.rpm[i] = htobe16(rpm[i]);
}
data.enable_security = 0;
data.checksum = _checksum((uint8_t *) &data, sizeof(data) - 1);
if (!_dev->get_semaphore()->take(0))
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer((uint8_t *)&data, sizeof(data), nullptr, 0);
@ -133,10 +148,12 @@ void RCOutput_Bebop::_set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM])
bool RCOutput_Bebop::_get_info(struct bldc_info *info)
{
if (info == NULL) {
if (info == nullptr) {
return false;
}
memset(info, 0, sizeof(struct bldc_info));
if (!_dev->get_semaphore()->take(0)) {
return false;
}
@ -151,14 +168,16 @@ int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
int i;
memset(&data, 0, sizeof(data));
if (!_dev->get_semaphore()->take(0))
if (!_dev->get_semaphore()->take(0)) {
return -EBUSY;
}
_dev->read_registers(BEBOP_BLDC_GETOBSDATA, (uint8_t *)&data, sizeof(data));
_dev->get_semaphore()->give();
if (data.checksum != _checksum((uint8_t *)&data, sizeof(data) - 1))
if (data.checksum != _checksum((uint8_t *)&data, sizeof(data) - 1)) {
hal.console->printf("RCOutput_Bebop: bad checksum in obs data");
}
/* fill obs class */
for (i = 0; i < BEBOP_BLDC_MOTORS_NUM; i++) {
@ -167,8 +186,9 @@ int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
/* clear 'rpm saturation bit' */
data.rpm[i] &= (uint16_t)(~(1 << 7));
obs.rpm[i] = be16toh(data.rpm[i]);
if (obs.rpm[i] == 0)
if (obs.rpm[i] == 0) {
obs.rpm_saturated[i] = 0;
}
}
obs.batt_mv = be16toh(data.batt_mv);
@ -176,13 +196,15 @@ int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
obs.error = data.error;
obs.motors_err = data.motors_err;
obs.temperature = data.temp;
return 0;
}
void RCOutput_Bebop::_toggle_gpio(uint8_t mask)
{
if (!_dev->get_semaphore()->take(0))
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->write_register(BEBOP_BLDC_TOGGLE_GPIO, mask);
_dev->get_semaphore()->give();
@ -193,8 +215,9 @@ void RCOutput_Bebop::_stop_prop()
uint8_t data = BEBOP_BLDC_STOP_PROP;
_state = BEBOP_BLDC_STOPPED;
if (!_dev->get_semaphore()->take(0))
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer(&data, sizeof(data), nullptr, 0);
_dev->get_semaphore()->give();
@ -204,8 +227,9 @@ void RCOutput_Bebop::_clear_error()
{
uint8_t data = BEBOP_BLDC_CLEAR_ERROR;
if (!_dev->get_semaphore()->take(0))
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer(&data, sizeof(data), nullptr, 0);
_dev->get_semaphore()->give();
@ -213,8 +237,9 @@ void RCOutput_Bebop::_clear_error()
void RCOutput_Bebop::_play_sound(uint8_t sound)
{
if (!_dev->get_semaphore()->take(0))
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->write_register(BEBOP_BLDC_PLAY_SOUND, sound);
_dev->get_semaphore()->give();
@ -300,13 +325,15 @@ void RCOutput_Bebop::disable_ch(uint8_t ch)
void RCOutput_Bebop::write(uint8_t ch, uint16_t period_us)
{
if (ch >= BEBOP_BLDC_MOTORS_NUM)
if (ch >= BEBOP_BLDC_MOTORS_NUM) {
return;
}
_request_period_us[ch] = period_us;
if (!_corking)
if (!_corking) {
push();
}
}
void RCOutput_Bebop::cork()
@ -335,8 +362,9 @@ uint16_t RCOutput_Bebop::read(uint8_t ch)
void RCOutput_Bebop::read(uint16_t* period_us, uint8_t len)
{
for (int i = 0; i < len; i++)
for (int i = 0; i < len; i++) {
period_us[i] = read(0 + i);
}
}
void RCOutput_Bebop::set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm)
@ -406,11 +434,11 @@ void RCOutput_Bebop::_run_rcout()
while (true) {
pthread_mutex_lock(&_mutex);
ret = clock_gettime(CLOCK_MONOTONIC, &ts);
if (ret != 0)
if (ret != 0) {
hal.console->println("RCOutput_Bebop: bad checksum in obs data");
}
if (ts.tv_nsec > (1000000000 - BEBOP_BLDC_TIMEOUT_NS))
{
if (ts.tv_nsec > (1000000000 - BEBOP_BLDC_TIMEOUT_NS)) {
ts.tv_sec += 1;
ts.tv_nsec = ts.tv_nsec + BEBOP_BLDC_TIMEOUT_NS - 1000000000;
} else {
@ -418,8 +446,9 @@ void RCOutput_Bebop::_run_rcout()
}
ret = 0;
while ((memcmp(_period_us, current_period_us, sizeof(_period_us)) == 0) && (ret == 0))
while ((memcmp(_period_us, current_period_us, sizeof(_period_us)) == 0) && (ret == 0)) {
ret = pthread_cond_timedwait(&_cond, &_mutex, &ts);
}
memcpy(current_period_us, _period_us, sizeof(_period_us));
pthread_mutex_unlock(&_mutex);
@ -427,8 +456,9 @@ void RCOutput_Bebop::_run_rcout()
/* start propellers if the speed of the 4 motors is >= min speed
* min speed set to min_pwm + 50*/
for (i = 0; i < BEBOP_BLDC_MOTORS_NUM; i++) {
if (current_period_us[i] <= _min_pwm + 50)
if (current_period_us[i] <= _min_pwm + 50) {
break;
}
_rpm[bebop_bldc_channels[i]] = _period_us_to_rpm(current_period_us[i]);
}
@ -442,10 +472,12 @@ void RCOutput_Bebop::_run_rcout()
} else {
/* all the motor pwm values are higher than minimum
* if the bldc is stopped, start it*/
if (_state == BEBOP_BLDC_STOPPED)
if (_state == BEBOP_BLDC_STOPPED) {
_start_prop();
}
}
_set_ref_speed(_rpm);
}
}
#endif

11
libraries/AP_HAL_Linux/RCOutput_Bebop.h
View File

@ -47,16 +47,7 @@ public:
uint8_t temperature;
};
struct bldc_info {
uint8_t version_maj;
uint8_t version_min;
uint8_t type;
uint8_t n_motors;
uint16_t n_flights;
uint16_t last_flight_time;
uint32_t total_flight_time;
uint8_t last_error;
}__attribute__((packed));
struct bldc_info;
class Linux::RCOutput_Bebop : public AP_HAL::RCOutput {
public: