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tap_esc: fix code style, IS_armed -> _is_armed

This commit is contained in:
Beat Küng 2016-07-25 12:24:27 +02:00 committed by Lorenz Meier
parent 3f9f320f18
commit 8602ff7856
1 changed files with 17 additions and 14 deletions
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31
src/drivers/tap_esc/tap_esc.cpp
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@ -98,7 +98,7 @@ private:
static const uint8_t crcTable[256];
static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
bool IS_armed;
bool _is_armed;
unsigned _poll_fds_num;
Mode _mode;
@ -162,7 +162,7 @@ TAP_ESC *tap_esc = nullptr;
TAP_ESC::TAP_ESC(int channels_count):
CDev("tap_esc", TAP_ESC_DEVICE_PATH),
IS_armed(false),
_is_armed(false),
_poll_fds_num(0),
_mode(MODE_4PWM),
_num_outputs(0),
@ -442,7 +442,7 @@ void TAP_ESC::read_data_from_uart()
{
uint8_t tmp_serial_buf[UART_BUFFER_SIZE] = {0};
int len =::read(_uart_fd, &tmp_serial_buf[0], arraySize(tmp_serial_buf));
int len =::read(_uart_fd, tmp_serial_buf, arraySize(tmp_serial_buf));
if (len > 0 && (uartbuf.dat_cnt + len < UART_BUFFER_SIZE)) {
for (int i = 0; i < len; i++) {
@ -467,14 +467,16 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, EscPacket *packe
for (int i = 0; i < count; i++) {
switch (state) {
case HEAD: if (serial_buf->esc_feedback_buf[serial_buf->head] == 0xFE) {
case HEAD:
if (serial_buf->esc_feedback_buf[serial_buf->head] == 0xFE) {
packetdata->head = 0xFE; //just_keep the format
state = LEN;
}
break;
case LEN: if (serial_buf->esc_feedback_buf[serial_buf->head] < sizeof(packetdata->d)) {
case LEN:
if (serial_buf->esc_feedback_buf[serial_buf->head] < sizeof(packetdata->d)) {
packetdata->len = serial_buf->esc_feedback_buf[serial_buf->head];
state = ID;
@ -484,7 +486,8 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, EscPacket *packe
break;
case ID: if (serial_buf->esc_feedback_buf[serial_buf->head] < ESCBUS_MSG_ID_MAX_NUM) {
case ID:
if (serial_buf->esc_feedback_buf[serial_buf->head] < ESCBUS_MSG_ID_MAX_NUM) {
packetdata->msg_id = serial_buf->esc_feedback_buf[serial_buf->head];
data_index = 0;
state = DATA;
@ -495,7 +498,8 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, EscPacket *packe
break;
case DATA: packetdata->d.bytes[data_index++] = serial_buf->esc_feedback_buf[serial_buf->head];
case DATA:
packetdata->d.bytes[data_index++] = serial_buf->esc_feedback_buf[serial_buf->head];
if (data_index >= packetdata->len) {
@ -505,7 +509,8 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, EscPacket *packe
break;
case CRC: if (crc_data_cal == serial_buf->esc_feedback_buf[serial_buf->head]) {
case CRC:
if (crc_data_cal == serial_buf->esc_feedback_buf[serial_buf->head]) {
packetdata->crc_data = serial_buf->esc_feedback_buf[serial_buf->head];
if (++serial_buf->head >= 128) {
@ -520,7 +525,8 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, EscPacket *packe
state = HEAD;
break;
default : state = HEAD;
default:
state = HEAD;
break;
}
@ -638,7 +644,7 @@ TAP_ESC::cycle()
}
/* can we mix? */
if (IS_armed && _mixers != nullptr) {
if (_is_armed && _mixers != nullptr) {
/* do mixing */
@ -735,9 +741,6 @@ TAP_ESC::cycle()
/* and publish for anyone that cares to see */
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
/* overwrite outputs in case of lockdown with disarmed PWM values */
}
bool updated;
@ -747,7 +750,7 @@ TAP_ESC::cycle()
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* do not obey the lockdown value, as lockdown is for PWMSim */
IS_armed = _armed.armed;
_is_armed = _armed.armed;
/* reset all outputs */
for (size_t i = 0; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) {