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AP_IOMCU: remove unnecessary tabs and whitespaces

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This commit is contained in:
Mirko Denecke 2019-10-20 15:47:14 +02:00 committed by Andrew Tridgell
parent e90bd27435
commit 12c9e50aef
7 changed files with 25 additions and 30 deletions
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30
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -99,9 +99,9 @@ void AP_IOMCU::thread_main(void)
uart.begin(1500*1000, 256, 256); uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(true); uart.set_blocking_writes(true);
uart.set_unbuffered_writes(true); uart.set_unbuffered_writes(true);
trigger_event(IOEVENT_INIT); trigger_event(IOEVENT_INIT);
while (!do_shutdown) { while (!do_shutdown) {
eventmask_t mask = chEvtWaitAnyTimeout(~0, chTimeMS2I(10)); eventmask_t mask = chEvtWaitAnyTimeout(~0, chTimeMS2I(10));
@ -150,7 +150,7 @@ void AP_IOMCU::thread_main(void)
} }
} }
if (mask & EVENT_MASK(IOEVENT_SET_RATES)) { if (mask & EVENT_MASK(IOEVENT_SET_RATES)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_ALTRATE, rate.freq) || if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_ALTRATE, rate.freq) ||
!write_register(PAGE_SETUP, PAGE_REG_SETUP_PWM_RATE_MASK, rate.chmask)) { !write_register(PAGE_SETUP, PAGE_REG_SETUP_PWM_RATE_MASK, rate.chmask)) {
@ -164,7 +164,7 @@ void AP_IOMCU::thread_main(void)
!modify_register(PAGE_SETUP, PAGE_REG_SETUP_FEATURES, 0, !modify_register(PAGE_SETUP, PAGE_REG_SETUP_FEATURES, 0,
P_SETUP_FEATURES_SBUS1_OUT)) { P_SETUP_FEATURES_SBUS1_OUT)) {
event_failed(IOEVENT_ENABLE_SBUS); event_failed(IOEVENT_ENABLE_SBUS);
continue; continue;
} }
} }
@ -195,7 +195,7 @@ void AP_IOMCU::thread_main(void)
continue; continue;
} }
} }
if (mask & EVENT_MASK(IOEVENT_SET_SAFETY_MASK)) { if (mask & EVENT_MASK(IOEVENT_SET_SAFETY_MASK)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_IGNORE_SAFETY, pwm_out.safety_mask)) { if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_IGNORE_SAFETY, pwm_out.safety_mask)) {
event_failed(IOEVENT_SET_SAFETY_MASK); event_failed(IOEVENT_SET_SAFETY_MASK);
@ -210,7 +210,7 @@ void AP_IOMCU::thread_main(void)
read_rc_input(); read_rc_input();
last_rc_read_ms = AP_HAL::millis(); last_rc_read_ms = AP_HAL::millis();
} }
if (now - last_status_read_ms > 50) { if (now - last_status_read_ms > 50) {
// read status at 20Hz // read status at 20Hz
read_status(); read_status();
@ -272,7 +272,7 @@ void AP_IOMCU::send_servo_out()
last_servo_out_us = now; last_servo_out_us = now;
} }
} }
} }
} }
/* /*
@ -408,7 +408,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
IOPacket pkt; IOPacket pkt;
discard_input(); discard_input();
memset(&pkt.regs[0], 0, count*2); memset(&pkt.regs[0], 0, count*2);
pkt.code = CODE_READ; pkt.code = CODE_READ;
@ -428,7 +428,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
*/ */
pkt_size = 4; pkt_size = 4;
} }
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt_size); pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt_size);
size_t ret = write_wait((uint8_t *)&pkt, pkt_size); size_t ret = write_wait((uint8_t *)&pkt, pkt_size);
@ -445,7 +445,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
AP_HAL::millis(), page, offset, count); AP_HAL::millis(), page, offset, count);
return false; return false;
} }
uint8_t *b = (uint8_t *)&pkt; uint8_t *b = (uint8_t *)&pkt;
uint8_t n = uart.available(); uint8_t n = uart.available();
if (n < offsetof(struct IOPacket, regs)) { if (n < offsetof(struct IOPacket, regs)) {
@ -509,7 +509,7 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
regs += PKT_MAX_REGS; regs += PKT_MAX_REGS;
} }
IOPacket pkt; IOPacket pkt;
discard_input(); discard_input();
memset(&pkt.regs[0], 0, count*2); memset(&pkt.regs[0], 0, count*2);
@ -537,7 +537,7 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
protocol_fail_count++; protocol_fail_count++;
return false; return false;
} }
uint8_t *b = (uint8_t *)&pkt; uint8_t *b = (uint8_t *)&pkt;
uint8_t n = uart.available(); uint8_t n = uart.available();
for (uint8_t i=0; i<n; i++) { for (uint8_t i=0; i<n; i++) {
@ -757,7 +757,7 @@ bool AP_IOMCU::check_crc(void)
{ {
// flash size minus 4k bootloader // flash size minus 4k bootloader
const uint32_t flash_size = 0x10000 - 0x1000; const uint32_t flash_size = 0x10000 - 0x1000;
fw = AP_ROMFS::find_decompress(fw_name, fw_size); fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) { if (!fw) {
hal.console->printf("failed to find %s\n", fw_name); hal.console->printf("failed to find %s\n", fw_name);
@ -796,7 +796,7 @@ bool AP_IOMCU::check_crc(void)
fw = nullptr; fw = nullptr;
AP_BoardConfig::sensor_config_error("Failed to update IO firmware"); AP_BoardConfig::sensor_config_error("Failed to update IO firmware");
} }
free(fw); free(fw);
fw = nullptr; fw = nullptr;
return false; return false;
@ -846,7 +846,7 @@ void AP_IOMCU::set_safety_mask(uint16_t chmask)
{ {
if (pwm_out.safety_mask != chmask) { if (pwm_out.safety_mask != chmask) {
pwm_out.safety_mask = chmask; pwm_out.safety_mask = chmask;
trigger_event(IOEVENT_SET_SAFETY_MASK); trigger_event(IOEVENT_SET_SAFETY_MASK);
} }
} }

10
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -54,7 +54,7 @@ public:
// set PWM of channels when in FMU failsafe // set PWM of channels when in FMU failsafe
void set_failsafe_pwm(uint16_t chmask, uint16_t period_us); void set_failsafe_pwm(uint16_t chmask, uint16_t period_us);
/* /*
enable sbus output enable sbus output
*/ */
@ -92,7 +92,7 @@ public:
// set to brushed mode // set to brushed mode
void set_brushed_mode(void); void set_brushed_mode(void);
// check if IO is healthy // check if IO is healthy
bool healthy(void); bool healthy(void);
@ -102,7 +102,7 @@ public:
// setup for FMU failsafe mixing // setup for FMU failsafe mixing
bool setup_mixing(RCMapper *rcmap, int8_t override_chan, bool setup_mixing(RCMapper *rcmap, int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask); float mixing_gain, uint16_t manual_rc_mask);
// channel group masks // channel group masks
const uint8_t ch_masks[3] = { 0x03,0x0C,0xF0 }; const uint8_t ch_masks[3] = { 0x03,0x0C,0xF0 };
@ -121,7 +121,7 @@ private:
bool write_register(uint8_t page, uint8_t offset, uint16_t v) { bool write_register(uint8_t page, uint8_t offset, uint16_t v) {
return write_registers(page, offset, 1, &v); return write_registers(page, offset, 1, &v);
} }
// modify a single register // modify a single register
bool modify_register(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits); bool modify_register(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
@ -166,7 +166,7 @@ private:
// MIXER values // MIXER values
struct page_mixing mixing; struct page_mixing mixing;
// output pwm values // output pwm values
struct { struct {
uint8_t num_channels; uint8_t num_channels;

2
libraries/AP_IOMCU/fw_uploader.cpp
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@ -421,7 +421,7 @@ bool AP_IOMCU::verify_rev3(uint32_t fw_size_local)
} }
crc_is_ok = true; crc_is_ok = true;
return true; return true;
} }

5
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
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@ -557,7 +557,7 @@ bool AP_IOMCU_FW::handle_code_write()
dsm_bind_state = 1; dsm_bind_state = 1;
} }
break; break;
default: default:
break; break;
} }
@ -749,6 +749,3 @@ void AP_IOMCU_FW::fill_failsafe_pwm(void)
} }
AP_HAL_MAIN(); AP_HAL_MAIN();

3
libraries/AP_IOMCU/iofirmware/iofirmware.h
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@ -112,7 +112,7 @@ public:
// true when override channel active // true when override channel active
bool override_active; bool override_active;
// sbus rate handling // sbus rate handling
uint32_t sbus_last_ms; uint32_t sbus_last_ms;
uint32_t sbus_interval_ms; uint32_t sbus_interval_ms;
@ -148,4 +148,3 @@ public:
#define AMBER_SET(on) palWriteLine(HAL_GPIO_PIN_AMBER_LED, !(on)); #define AMBER_SET(on) palWriteLine(HAL_GPIO_PIN_AMBER_LED, !(on));
#define SPEKTRUM_POWER(on) palWriteLine(HAL_GPIO_PIN_SPEKTRUM_PWR_EN, on); #define SPEKTRUM_POWER(on) palWriteLine(HAL_GPIO_PIN_SPEKTRUM_PWR_EN, on);
#define SPEKTRUM_SET(on) palWriteLine(HAL_GPIO_PIN_SPEKTRUM_OUT, on); #define SPEKTRUM_SET(on) palWriteLine(HAL_GPIO_PIN_SPEKTRUM_OUT, on);

4
libraries/AP_IOMCU/iofirmware/mixer.cpp
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@ -158,7 +158,7 @@ void AP_IOMCU_FW::run_mixer(void)
case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16: case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16:
pwm = rc_input.pwm[(uint8_t)(function - SRV_Channel::k_rcin1)]; pwm = rc_input.pwm[(uint8_t)(function - SRV_Channel::k_rcin1)];
break; break;
case SRV_Channel::k_aileron: case SRV_Channel::k_aileron:
case SRV_Channel::k_aileron_with_input: case SRV_Channel::k_aileron_with_input:
case SRV_Channel::k_flaperon_left: case SRV_Channel::k_flaperon_left:
@ -213,7 +213,7 @@ void AP_IOMCU_FW::run_mixer(void)
case SRV_Channel::k_vtail_right: case SRV_Channel::k_vtail_right:
pwm = mix_output_angle(i, mix_elevon_vtail(rudder, pitch, true)); pwm = mix_output_angle(i, mix_elevon_vtail(rudder, pitch, true));
break; break;
default: default:
break; break;
} }

1
libraries/AP_IOMCU/iofirmware/rc.cpp
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@ -181,4 +181,3 @@ void AP_IOMCU_FW::dsm_bind_step(void)
break; break;
} }
} }