Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_IOMCU: remove unnecessary tabs and whitespaces

This commit is contained in:
Mirko Denecke 2019-10-20 15:47:14 +02:00 committed by Andrew Tridgell
parent ef6d513c63
commit c6a58fa732
7 changed files with 25 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -99,9 +99,9 @@ void AP_IOMCU::thread_main(void)
uart.begin(1500*1000, 128, 128);
uart.set_blocking_writes(true);
uart.set_unbuffered_writes(true);
trigger_event(IOEVENT_INIT);
while (!do_shutdown) {
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 (!write_register(PAGE_SETUP, PAGE_REG_SETUP_ALTRATE, rate.freq) ||
!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,
P_SETUP_FEATURES_SBUS1_OUT)) {
event_failed(IOEVENT_ENABLE_SBUS);
continue;
continue;
}
}
@ -195,7 +195,7 @@ void AP_IOMCU::thread_main(void)
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_SAFETY_MASK)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_IGNORE_SAFETY, pwm_out.safety_mask)) {
event_failed(IOEVENT_SET_SAFETY_MASK);
@ -210,7 +210,7 @@ void AP_IOMCU::thread_main(void)
read_rc_input();
last_rc_read_ms = AP_HAL::millis();
}
if (now - last_status_read_ms > 50) {
// read status at 20Hz
read_status();
@ -272,7 +272,7 @@ void AP_IOMCU::send_servo_out()
last_servo_out_us = now;
}
}
}
}
}
/*
@ -414,7 +414,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
IOPacket pkt;
discard_input();
memset(&pkt.regs[0], 0, count*2);
pkt.code = CODE_READ;
@ -434,7 +434,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
*/
pkt_size = 4;
}
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt_size);
size_t ret = write_wait((uint8_t *)&pkt, pkt_size);
@ -452,7 +452,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
protocol_fail_count++;
return false;
}
uint8_t *b = (uint8_t *)&pkt;
uint8_t n = uart.available();
if (n < offsetof(struct IOPacket, regs)) {
@ -516,7 +516,7 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
regs += PKT_MAX_REGS;
}
IOPacket pkt;
discard_input();
memset(&pkt.regs[0], 0, count*2);
@ -544,7 +544,7 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
protocol_fail_count++;
return false;
}
uint8_t *b = (uint8_t *)&pkt;
uint8_t n = uart.available();
for (uint8_t i=0; i<n; i++) {
@ -764,7 +764,7 @@ bool AP_IOMCU::check_crc(void)
{
// flash size minus 4k bootloader
const uint32_t flash_size = 0x10000 - 0x1000;
fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) {
hal.console->printf("failed to find %s\n", fw_name);
@ -803,7 +803,7 @@ bool AP_IOMCU::check_crc(void)
fw = nullptr;
AP_BoardConfig::sensor_config_error("Failed to update IO firmware");
}
free(fw);
fw = nullptr;
return false;
@ -853,7 +853,7 @@ void AP_IOMCU::set_safety_mask(uint16_t chmask)
{
if (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
void set_failsafe_pwm(uint16_t chmask, uint16_t period_us);
/*
enable sbus output
*/
@ -92,7 +92,7 @@ public:
// set to brushed mode
void set_brushed_mode(void);
// check if IO is healthy
bool healthy(void);
@ -102,7 +102,7 @@ public:
// setup for FMU failsafe mixing
bool setup_mixing(RCMapper *rcmap, int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask);
// channel group masks
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) {
return write_registers(page, offset, 1, &v);
}
// modify a single register
bool modify_register(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
@ -166,7 +166,7 @@ private:
// MIXER values
struct page_mixing mixing;
// output pwm values
struct {
uint8_t num_channels;

2
libraries/AP_IOMCU/fw_uploader.cpp
View File

@ -421,7 +421,7 @@ bool AP_IOMCU::verify_rev3(uint32_t fw_size_local)
}
crc_is_ok = true;
return true;
}

5
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -557,7 +557,7 @@ bool AP_IOMCU_FW::handle_code_write()
dsm_bind_state = 1;
}
break;
default:
break;
}
@ -749,6 +749,3 @@ void AP_IOMCU_FW::fill_failsafe_pwm(void)
}
AP_HAL_MAIN();

3
libraries/AP_IOMCU/iofirmware/iofirmware.h
View File

@ -112,7 +112,7 @@ public:
// true when override channel active
bool override_active;
// sbus rate handling
uint32_t sbus_last_ms;
uint32_t sbus_interval_ms;
@ -148,4 +148,3 @@ public:
#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_SET(on) palWriteLine(HAL_GPIO_PIN_SPEKTRUM_OUT, on);

4
libraries/AP_IOMCU/iofirmware/mixer.cpp
View File

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

1
libraries/AP_IOMCU/iofirmware/rc.cpp
View File

@ -181,4 +181,3 @@ void AP_IOMCU_FW::dsm_bind_step(void)
break;
}
}