From 9c877660211e5d63d764f4e83ef44889e0771a6e Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Thu, 22 Apr 2021 04:51:51 -0700 Subject: [PATCH] sensor_calibration:Use inttytpes --- src/lib/sensor_calibration/Accelerometer.cpp | 15 ++++++++------- src/lib/sensor_calibration/Gyroscope.cpp | 14 +++++++------- src/lib/sensor_calibration/Magnetometer.cpp | 14 +++++++------- src/lib/sensor_calibration/Utilities.cpp | 14 +++++++------- 4 files changed, 29 insertions(+), 28 deletions(-) diff --git a/src/lib/sensor_calibration/Accelerometer.cpp b/src/lib/sensor_calibration/Accelerometer.cpp index 08233d15fd..b8ce46c655 100644 --- a/src/lib/sensor_calibration/Accelerometer.cpp +++ b/src/lib/sensor_calibration/Accelerometer.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -173,7 +173,7 @@ void Accelerometer::ParametersUpdate() if (_external) { if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) { - PX4_ERR("External %s %d (%d) invalid rotation %d, resetting to rotation none", + PX4_ERR("External %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 ", resetting to rotation none", SensorString(), _device_id, _calibration_index, rotation_value); rotation_value = ROTATION_NONE; SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value); @@ -184,7 +184,7 @@ void Accelerometer::ParametersUpdate() } else { // internal, CAL_ACCx_ROT -1 if (rotation_value != -1) { - PX4_ERR("Internal %s %d (%d) invalid rotation %d, resetting", + PX4_ERR("Internal %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 " resetting", SensorString(), _device_id, _calibration_index, rotation_value); SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); } @@ -201,8 +201,8 @@ void Accelerometer::ParametersUpdate() int32_t new_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY; if (_priority != -1) { - PX4_ERR("%s %d (%d) invalid priority %d, resetting to %d", SensorString(), _device_id, _calibration_index, _priority, - new_priority); + PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting to %" PRId32, SensorString(), _device_id, + _calibration_index, _priority, new_priority); } SetCalibrationParam(SensorString(), "PRIO", _calibration_index, new_priority); @@ -267,11 +267,12 @@ bool Accelerometer::ParametersSave() void Accelerometer::PrintStatus() { - PX4_INFO("%s %d EN: %d, offset: [%.4f %.4f %.4f] scale: [%.4f %.4f %.4f]", SensorString(), device_id(), enabled(), + PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%.4f %.4f %.4f] scale: [%.4f %.4f %.4f]", SensorString(), device_id(), + enabled(), (double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_scale(0), (double)_scale(1), (double)_scale(2)); if (_thermal_offset.norm() > 0.f) { - PX4_INFO("%s %d temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, + PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); } } diff --git a/src/lib/sensor_calibration/Gyroscope.cpp b/src/lib/sensor_calibration/Gyroscope.cpp index 861929622f..1417a7def1 100644 --- a/src/lib/sensor_calibration/Gyroscope.cpp +++ b/src/lib/sensor_calibration/Gyroscope.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -158,7 +158,7 @@ void Gyroscope::ParametersUpdate() if (_external) { if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) { - PX4_ERR("External %s %d (%d) invalid rotation %d, resetting to rotation none", + PX4_ERR("External %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 ", resetting to rotation none", SensorString(), _device_id, _calibration_index, rotation_value); rotation_value = ROTATION_NONE; SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value); @@ -169,7 +169,7 @@ void Gyroscope::ParametersUpdate() } else { // internal, CAL_GYROx_ROT -1 if (rotation_value != -1) { - PX4_ERR("Internal %s %d (%d) invalid rotation %d, resetting", + PX4_ERR("Internal %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 " resetting", SensorString(), _device_id, _calibration_index, rotation_value); SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); } @@ -186,8 +186,8 @@ void Gyroscope::ParametersUpdate() int32_t new_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY; if (_priority != -1) { - PX4_ERR("%s %d (%d) invalid priority %d, resetting to %d", SensorString(), _device_id, _calibration_index, _priority, - new_priority); + PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting to %" PRId32, SensorString(), _device_id, + _calibration_index, _priority, new_priority); } SetCalibrationParam(SensorString(), "PRIO", _calibration_index, new_priority); @@ -247,11 +247,11 @@ bool Gyroscope::ParametersSave() void Gyroscope::PrintStatus() { - PX4_INFO("%s %d EN: %d, offset: [%.4f %.4f %.4f]", SensorString(), device_id(), enabled(), + PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%.4f %.4f %.4f]", SensorString(), device_id(), enabled(), (double)_offset(0), (double)_offset(1), (double)_offset(2)); if (_thermal_offset.norm() > 0.f) { - PX4_INFO("%s %d temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, + PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); } } diff --git a/src/lib/sensor_calibration/Magnetometer.cpp b/src/lib/sensor_calibration/Magnetometer.cpp index f5df47261d..8dd2b7d028 100644 --- a/src/lib/sensor_calibration/Magnetometer.cpp +++ b/src/lib/sensor_calibration/Magnetometer.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -158,7 +158,7 @@ void Magnetometer::ParametersUpdate() if (_external) { if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) { - PX4_ERR("External %s %d (%d) invalid rotation %d, resetting to rotation none", + PX4_ERR("External %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 ", resetting to rotation none", SensorString(), _device_id, _calibration_index, rotation_value); rotation_value = ROTATION_NONE; SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value); @@ -169,7 +169,7 @@ void Magnetometer::ParametersUpdate() } else { // internal mag, CAL_MAGx_ROT -1 if (rotation_value != -1) { - PX4_ERR("Internal %s %d (%d) invalid rotation %d, resetting", + PX4_ERR("Internal %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 " resetting", SensorString(), _device_id, _calibration_index, rotation_value); SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); } @@ -186,8 +186,8 @@ void Magnetometer::ParametersUpdate() int32_t new_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY; if (_priority != -1) { - PX4_ERR("%s %d (%d) invalid priority %d, resetting to %d", SensorString(), _device_id, _calibration_index, _priority, - new_priority); + PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting to %" PRId32, SensorString(), _device_id, + _calibration_index, _priority, new_priority); } SetCalibrationParam(SensorString(), "PRIO", _calibration_index, new_priority); @@ -267,14 +267,14 @@ bool Magnetometer::ParametersSave() void Magnetometer::PrintStatus() { if (external()) { - PX4_INFO("%s %d EN: %d, offset: [% 05.3f % 05.3f % 05.3f], scale: [% 05.3f % 05.3f % 05.3f], External ROT: %d", + PX4_INFO("%s %" PRIu32 " EN: %d, offset: [% 05.3f % 05.3f % 05.3f], scale: [% 05.3f % 05.3f % 05.3f], External ROT: %d", SensorString(), device_id(), enabled(), (double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2), rotation_enum()); } else { - PX4_INFO("%s %d EN: %d, offset: [% 05.3f % 05.3f % 05.3f], scale: [% 05.3f % 05.3f % 05.3f], Internal", + PX4_INFO("%s %" PRIu32 " EN: %d, offset: [% 05.3f % 05.3f % 05.3f], scale: [% 05.3f % 05.3f % 05.3f], Internal", SensorString(), device_id(), enabled(), (double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2)); diff --git a/src/lib/sensor_calibration/Utilities.cpp b/src/lib/sensor_calibration/Utilities.cpp index 28a77dae38..571391c362 100644 --- a/src/lib/sensor_calibration/Utilities.cpp +++ b/src/lib/sensor_calibration/Utilities.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020,2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -80,7 +80,7 @@ int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8 { // eg CAL_MAGn_ID/CAL_MAGn_ROT char str[20] {}; - sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type); + sprintf(str, "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type); int32_t value = 0; @@ -96,12 +96,12 @@ bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t char str[20] {}; // eg CAL_MAGn_ID/CAL_MAGn_ROT - sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type); + sprintf(str, "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type); int ret = param_set_no_notification(param_find(str), &value); if (ret != PX4_OK) { - PX4_ERR("failed to set %s = %d", str, value); + PX4_ERR("failed to set %s = %" PRId32, str, value); } return ret == PX4_OK; @@ -117,7 +117,7 @@ Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_t char axis_char = 'X' + axis; // eg CAL_MAGn_{X,Y,Z}OFF - sprintf(str, "CAL_%s%u_%c%s", sensor_type, instance, axis_char, cal_type); + sprintf(str, "CAL_%s%" PRIu8 "_%c%s", sensor_type, instance, axis_char, cal_type); if (param_get(param_find(str), &values(axis)) != 0) { PX4_ERR("failed to get %s", str); @@ -136,7 +136,7 @@ bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, char axis_char = 'X' + axis; // eg CAL_MAGn_{X,Y,Z}OFF - sprintf(str, "CAL_%s%u_%c%s", sensor_type, instance, axis_char, cal_type); + sprintf(str, "CAL_%s%" PRIu8 "_%c%s", sensor_type, instance, axis_char, cal_type); if (param_set_no_notification(param_find(str), &values(axis)) != 0) { PX4_ERR("failed to set %s = %.4f", str, (double)values(axis)); @@ -169,7 +169,7 @@ enum Rotation GetBoardRotation() return static_cast(board_rot); } else { - PX4_ERR("invalid SENS_BOARD_ROT: %d", board_rot); + PX4_ERR("invalid SENS_BOARD_ROT: %" PRId32, board_rot); } return Rotation::ROTATION_NONE;