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HAL_PX4: cleanup whitespace

This commit is contained in:
Andrew Tridgell 2017-01-08 12:19:55 +11:00
parent 6b4e5304cf
commit 1bd9d0b7f9
1 changed files with 64 additions and 64 deletions
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128
libraries/AP_HAL_PX4/RCInput.cpp
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@ -14,16 +14,16 @@ extern const AP_HAL::HAL& hal;
void PX4RCInput::init()
{
_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
_rc_sub = orb_subscribe(ORB_ID(input_rc));
if (_rc_sub == -1) {
AP_HAL::panic("Unable to subscribe to input_rc");
}
clear_overrides();
pthread_mutex_init(&rcin_mutex, nullptr);
_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
_rc_sub = orb_subscribe(ORB_ID(input_rc));
if (_rc_sub == -1) {
AP_HAL::panic("Unable to subscribe to input_rc");
}
clear_overrides();
pthread_mutex_init(&rcin_mutex, nullptr);
}
bool PX4RCInput::new_input()
bool PX4RCInput::new_input()
{
pthread_mutex_lock(&rcin_mutex);
bool valid = _rcin.timestamp_last_signal != _last_read || _override_valid;
@ -33,7 +33,7 @@ bool PX4RCInput::new_input()
return valid;
}
uint8_t PX4RCInput::num_channels()
uint8_t PX4RCInput::num_channels()
{
pthread_mutex_lock(&rcin_mutex);
uint8_t n = _rcin.channel_count;
@ -41,80 +41,80 @@ uint8_t PX4RCInput::num_channels()
return n;
}
uint16_t PX4RCInput::read(uint8_t ch)
uint16_t PX4RCInput::read(uint8_t ch)
{
if (ch >= RC_INPUT_MAX_CHANNELS) {
return 0;
}
pthread_mutex_lock(&rcin_mutex);
if (_override[ch]) {
uint16_t v = _override[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
}
if (ch >= _rcin.channel_count) {
pthread_mutex_unlock(&rcin_mutex);
return 0;
}
uint16_t v = _rcin.values[ch];
if (ch >= RC_INPUT_MAX_CHANNELS) {
return 0;
}
pthread_mutex_lock(&rcin_mutex);
if (_override[ch]) {
uint16_t v = _override[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
}
if (ch >= _rcin.channel_count) {
pthread_mutex_unlock(&rcin_mutex);
return 0;
}
uint16_t v = _rcin.values[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
}
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
{
if (len > RC_INPUT_MAX_CHANNELS) {
len = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < len; i++){
periods[i] = read(i);
}
return len;
if (len > RC_INPUT_MAX_CHANNELS) {
len = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < len; i++){
periods[i] = read(i);
}
return len;
}
bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len)
bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len)
{
bool res = false;
for (uint8_t i = 0; i < len; i++) {
res |= set_override(i, overrides[i]);
}
return res;
bool res = false;
for (uint8_t i = 0; i < len; i++) {
res |= set_override(i, overrides[i]);
}
return res;
}
bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
if (override < 0) {
return false; /* -1: no change. */
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
return false;
}
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
return false;
if (override < 0) {
return false; /* -1: no change. */
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
return false;
}
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
return false;
}
void PX4RCInput::clear_overrides()
{
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
}
void PX4RCInput::_timer_tick(void)
{
perf_begin(_perf_rcin);
bool rc_updated = false;
if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
pthread_mutex_lock(&rcin_mutex);
orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
pthread_mutex_unlock(&rcin_mutex);
}
// note, we rely on the vehicle code checking new_input()
// and a timeout for the last valid input to handle failsafe
perf_end(_perf_rcin);
perf_begin(_perf_rcin);
bool rc_updated = false;
if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
pthread_mutex_lock(&rcin_mutex);
orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
pthread_mutex_unlock(&rcin_mutex);
}
// note, we rely on the vehicle code checking new_input()
// and a timeout for the last valid input to handle failsafe
perf_end(_perf_rcin);
}
bool PX4RCInput::rc_bind(int dsmMode)
@ -127,7 +127,7 @@ bool PX4RCInput::rc_bind(int dsmMode)
hal.console->printf("RCInput: failed to open /dev/px4io or /dev/px4fmu\n");
return false;
}
uint32_t mode = (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES);
int ret = ioctl(fd, DSM_BIND_START, mode);
close(fd);