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AP_RCProtocol: cleanup code style

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using Tools/CodeStyle/ardupilot-astyle.sh
This commit is contained in:
Andrew Tridgell 2018-07-20 14:25:40 +10:00
parent f9ab7e54d4
commit 1dcac14b1e
17 changed files with 581 additions and 566 deletions
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12
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -24,7 +24,7 @@
class AP_RCProtocol_Backend; class AP_RCProtocol_Backend;
class AP_RCProtocol { class AP_RCProtocol {
public: public:
enum rcprotocol_t{ enum rcprotocol_t {
PPM = 0, PPM = 0,
SBUS, SBUS,
SBUS_NI, SBUS_NI,
@ -35,10 +35,16 @@ public:
NONE //last enum always is None NONE //last enum always is None
}; };
void init(); void init();
bool valid_serial_prot() { return _valid_serial_prot; } bool valid_serial_prot()
{
return _valid_serial_prot;
}
void process_pulse(uint32_t width_s0, uint32_t width_s1); void process_pulse(uint32_t width_s0, uint32_t width_s1);
void process_byte(uint8_t byte); void process_byte(uint8_t byte);
enum rcprotocol_t protocol_detected() { return _detected_protocol; } enum rcprotocol_t protocol_detected()
{
return _detected_protocol;
}
uint8_t num_channels(); uint8_t num_channels();
uint16_t read(uint8_t chan); uint16_t read(uint8_t chan);
bool new_input(); bool new_input();

3
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
View File

@ -19,8 +19,7 @@
#include "AP_RCProtocol.h" #include "AP_RCProtocol.h"
class AP_RCProtocol_Backend class AP_RCProtocol_Backend {
{
friend class AP_RCProtcol; friend class AP_RCProtcol;
public: public:

35
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -48,7 +48,7 @@ void AP_RCProtocol_DSM::process_pulse(uint32_t width_s0, uint32_t width_s1)
byte_ofs = dsm_state.bit_ofs/10; byte_ofs = dsm_state.bit_ofs/10;
bit_ofs = dsm_state.bit_ofs%10; bit_ofs = dsm_state.bit_ofs%10;
if(byte_ofs > 15) { if (byte_ofs > 15) {
// invalid data // invalid data
goto reset; goto reset;
} }
@ -134,8 +134,9 @@ reset:
bool AP_RCProtocol_DSM::dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value) bool AP_RCProtocol_DSM::dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value)
{ {
if (raw == 0xffff) if (raw == 0xffff) {
return false; return false;
}
*channel = (raw >> shift) & 0xf; *channel = (raw >> shift) & 0xf;
@ -175,18 +176,21 @@ void AP_RCProtocol_DSM::dsm_guess_format(bool reset, const uint8_t dsm_frame[16]
unsigned channel, value; unsigned channel, value;
/* if the channel decodes, remember the assigned number */ /* if the channel decodes, remember the assigned number */
if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31)) if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31)) {
cs10 |= (1 << channel); cs10 |= (1 << channel);
}
if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31)) if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31)) {
cs11 |= (1 << channel); cs11 |= (1 << channel);
}
/* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-dsm_frame format */ /* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-dsm_frame format */
} }
/* wait until we have seen plenty of frames - 5 should normally be enough */ /* wait until we have seen plenty of frames - 5 should normally be enough */
if (samples++ < 5) if (samples++ < 5) {
return; return;
}
/* /*
* Iterate the set of sensible sniffed channel sets and see whether * Iterate the set of sensible sniffed channel sets and see whether
@ -213,12 +217,14 @@ void AP_RCProtocol_DSM::dsm_guess_format(bool reset, const uint8_t dsm_frame[16]
for (unsigned i = 0; i < sizeof(masks)/sizeof(masks[0]); i++) { for (unsigned i = 0; i < sizeof(masks)/sizeof(masks[0]); i++) {
if (cs10 == masks[i]) if (cs10 == masks[i]) {
votes10++; votes10++;
}
if (cs11 == masks[i]) if (cs11 == masks[i]) {
votes11++; votes11++;
} }
}
if ((votes11 == 1) && (votes10 == 0)) { if ((votes11 == 1) && (votes10 == 0)) {
dsm_channel_shift = 11; dsm_channel_shift = 11;
@ -283,20 +289,24 @@ bool AP_RCProtocol_DSM::dsm_decode(uint64_t frame_time, const uint8_t dsm_frame[
uint16_t raw = (dp[0] << 8) | dp[1]; uint16_t raw = (dp[0] << 8) | dp[1];
unsigned channel, value; unsigned channel, value;
if (!dsm_decode_channel(raw, dsm_channel_shift, &channel, &value)) if (!dsm_decode_channel(raw, dsm_channel_shift, &channel, &value)) {
continue; continue;
}
/* ignore channels out of range */ /* ignore channels out of range */
if (channel >= max_values) if (channel >= max_values) {
continue; continue;
}
/* update the decoded channel count */ /* update the decoded channel count */
if (channel >= *num_values) if (channel >= *num_values) {
*num_values = channel + 1; *num_values = channel + 1;
}
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding. */ /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding. */
if (dsm_channel_shift == 10) if (dsm_channel_shift == 10) {
value *= 2; value *= 2;
}
/* /*
* Spektrum scaling is special. There are these basic considerations * Spektrum scaling is special. There are these basic considerations
@ -346,8 +356,9 @@ bool AP_RCProtocol_DSM::dsm_decode(uint64_t frame_time, const uint8_t dsm_frame[
* lines, so if we get a channel count of 13, we'll return 12 (the last * lines, so if we get a channel count of 13, we'll return 12 (the last
* data index that is stable). * data index that is stable).
*/ */
if (*num_values == 13) if (*num_values == 13) {
*num_values = 12; *num_values = 12;
}
#if 0 #if 0
if (dsm_channel_shift == 11) { if (dsm_channel_shift == 11) {

3
libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp
View File

@ -180,8 +180,7 @@ bool AP_RCProtocol_SBUS::sbus_decode(const uint8_t frame[25], uint16_t *values,
/* report that we failed to read anything valid off the receiver */ /* report that we failed to read anything valid off the receiver */
*sbus_failsafe = true; *sbus_failsafe = true;
*sbus_frame_drop = true; *sbus_frame_drop = true;
} } else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
/* set a special warning flag /* set a special warning flag
* *
* Attention! This flag indicates a skipped frame only, not a total link loss! Handling this * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this

3
libraries/AP_RCProtocol/AP_RCProtocol_SBUS_NI.h
View File

@ -22,7 +22,8 @@
class AP_RCProtocol_SBUS_NI : public AP_RCProtocol_SBUS { class AP_RCProtocol_SBUS_NI : public AP_RCProtocol_SBUS {
public: public:
AP_RCProtocol_SBUS_NI(AP_RCProtocol &_frontend) : AP_RCProtocol_SBUS(_frontend), saved_width(0) {} AP_RCProtocol_SBUS_NI(AP_RCProtocol &_frontend) : AP_RCProtocol_SBUS(_frontend), saved_width(0) {}
void process_pulse(uint32_t width_s0, uint32_t width_s1) override { void process_pulse(uint32_t width_s0, uint32_t width_s1) override
{
AP_RCProtocol_SBUS::process_pulse(saved_width, width_s0); AP_RCProtocol_SBUS::process_pulse(saved_width, width_s0);
saved_width = width_s1; saved_width = width_s1;
} }

13
libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp
View File

@ -41,7 +41,7 @@ uint16_t AP_RCProtocol_SRXL::srxl_crc16(uint16_t crc, uint8_t new_byte)
{ {
uint8_t loop; uint8_t loop;
crc = crc ^ (uint16_t)new_byte << 8; crc = crc ^ (uint16_t)new_byte << 8;
for(loop = 0; loop < 8; loop++) { for (loop = 0; loop < 8; loop++) {
crc = (crc & 0x8000) ? (crc << 1) ^ 0x1021 : (crc << 1); crc = (crc & 0x8000) ? (crc << 1) ^ 0x1021 : (crc << 1);
} }
return crc; return crc;
@ -163,7 +163,7 @@ int AP_RCProtocol_SRXL::srxl_channels_get_v1v2(uint16_t max_values, uint8_t *num
} }
/* provide channel data to FMU */ /* provide channel data to FMU */
if ( (uint16_t)*num_values > max_values) { if ((uint16_t)*num_values > max_values) {
*num_values = (uint8_t)max_values; *num_values = (uint8_t)max_values;
} }
memcpy(values, channels, (*num_values)*2); memcpy(values, channels, (*num_values)*2);
@ -254,9 +254,9 @@ void AP_RCProtocol_SRXL::process_byte(uint8_t byte)
uint64_t timestamp_us = AP_HAL::micros64(); uint64_t timestamp_us = AP_HAL::micros64();
/*----------------------------------------distinguish different srxl variants at the beginning of each frame---------------------------------------------- */ /*----------------------------------------distinguish different srxl variants at the beginning of each frame---------------------------------------------- */
/* Check if we have a new begin of a frame --> indicators: Time gap in datastream + SRXL header 0xA<VARIANT>*/ /* Check if we have a new begin of a frame --> indicators: Time gap in datastream + SRXL header 0xA<VARIANT>*/
if ( (timestamp_us - last_data_us) >= SRXL_MIN_FRAMESPACE_US) { if ((timestamp_us - last_data_us) >= SRXL_MIN_FRAMESPACE_US) {
/* Now detect SRXL variant based on header */ /* Now detect SRXL variant based on header */
switch(byte) { switch (byte) {
case SRXL_HEADER_V1: case SRXL_HEADER_V1:
frame_len_full = SRXL_FRAMELEN_V1; frame_len_full = SRXL_FRAMELEN_V1;
frame_header = SRXL_HEADER_V1; frame_header = SRXL_HEADER_V1;
@ -306,7 +306,7 @@ void AP_RCProtocol_SRXL::process_byte(uint8_t byte)
if (buflen <= (frame_len_full-2)) { if (buflen <= (frame_len_full-2)) {
crc_fmu = srxl_crc16(crc_fmu,byte); crc_fmu = srxl_crc16(crc_fmu,byte);
} }
if( buflen == frame_len_full ) { if (buflen == frame_len_full) {
/* CRC check here */ /* CRC check here */
crc_receiver = ((uint16_t)buffer[buflen-2] << 8U) | ((uint16_t)buffer[buflen-1]); crc_receiver = ((uint16_t)buffer[buflen-2] << 8U) | ((uint16_t)buffer[buflen-1]);
if (crc_receiver == crc_fmu) { if (crc_receiver == crc_fmu) {
@ -332,8 +332,7 @@ void AP_RCProtocol_SRXL::process_byte(uint8_t byte)
} }
} }
decode_state_next = STATE_IDLE; /* frame data buffering and decoding finished --> statemachine not in use until new header drops is */ decode_state_next = STATE_IDLE; /* frame data buffering and decoding finished --> statemachine not in use until new header drops is */
} } else {
else {
/* frame not completely received --> frame data buffering still ongoing */ /* frame not completely received --> frame data buffering still ongoing */
decode_state_next = STATE_COLLECT; decode_state_next = STATE_COLLECT;
} }

4
libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
View File

@ -48,7 +48,7 @@ private:
ST24_PACKET_TYPE_TRANSMITTERGPSDATA ST24_PACKET_TYPE_TRANSMITTERGPSDATA
}; };
#pragma pack(push, 1) #pragma pack(push, 1)
typedef struct { typedef struct {
uint8_t header1; ///< 0x55 for a valid packet uint8_t header1; ///< 0x55 for a valid packet
uint8_t header2; ///< 0x55 for a valid packet uint8_t header2; ///< 0x55 for a valid packet
@ -129,7 +129,7 @@ private:
uint8_t pressCompassStatus; ///< baro / compass status uint8_t pressCompassStatus; ///< baro / compass status
} TelemetryData; } TelemetryData;
#pragma pack(pop) #pragma pack(pop)
enum ST24_DECODE_STATE { enum ST24_DECODE_STATE {
ST24_DECODE_STATE_UNSYNCED = 0, ST24_DECODE_STATE_UNSYNCED = 0,

4
libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h
View File

@ -29,7 +29,7 @@ private:
static uint16_t sumd_crc16(uint16_t crc, uint8_t value); static uint16_t sumd_crc16(uint16_t crc, uint8_t value);
static uint8_t sumd_crc8(uint8_t crc, uint8_t value); static uint8_t sumd_crc8(uint8_t crc, uint8_t value);
#pragma pack(push, 1) #pragma pack(push, 1)
typedef struct { typedef struct {
uint8_t header; ///< 0xA8 for a valid packet uint8_t header; ///< 0xA8 for a valid packet
uint8_t status; ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe uint8_t status; ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe
@ -40,7 +40,7 @@ private:
uint8_t telemetry; ///< Telemetry request uint8_t telemetry; ///< Telemetry request
uint8_t crc8; ///< SUMH CRC8 uint8_t crc8; ///< SUMH CRC8
} ReceiverFcPacketHoTT; } ReceiverFcPacketHoTT;
#pragma pack(pop) #pragma pack(pop)
enum SUMD_DECODE_STATE { enum SUMD_DECODE_STATE {