forked from Archive/PX4-Autopilot
Pure formatting cleanup of drv_hrt.c, no code / functionality changes
This commit is contained in:
Lorenz Meier
parent
db46672bc4
commit
d5c857615b
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@ -168,7 +168,7 @@
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# error HRT_TIMER_CLOCK must be greater than 1MHz
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#endif
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/*
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/**
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* Minimum/maximum deadlines.
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*
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* These are suitable for use with a 16-bit timer/counter clocked
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@ -276,7 +276,7 @@ static void hrt_call_invoke(void);
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* Specific registers and bits used by PPM sub-functions
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*/
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#ifdef HRT_PPM_CHANNEL
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/*
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/*
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* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
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*
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* Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
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@ -336,18 +336,18 @@ static void hrt_call_invoke(void);
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/*
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* PPM decoder tuning parameters
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*/
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# define PPM_MIN_PULSE_WIDTH 200 /* minimum width of a valid first pulse */
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# define PPM_MAX_PULSE_WIDTH 600 /* maximum width of a valid first pulse */
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# define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */
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# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */
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# define PPM_MIN_START 2300 /* shortest valid start gap (only 2nd part of pulse) */
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# define PPM_MIN_PULSE_WIDTH 200 /**< minimum width of a valid first pulse */
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# define PPM_MAX_PULSE_WIDTH 600 /**< maximum width of a valid first pulse */
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# define PPM_MIN_CHANNEL_VALUE 800 /**< shortest valid channel signal */
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# define PPM_MAX_CHANNEL_VALUE 2200 /**< longest valid channel signal */
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# define PPM_MIN_START 2300 /**< shortest valid start gap (only 2nd part of pulse) */
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/* decoded PPM buffer */
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#define PPM_MIN_CHANNELS 5
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#define PPM_MAX_CHANNELS 20
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/* Number of same-sized frames required to 'lock' */
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#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */
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/** Number of same-sized frames required to 'lock' */
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#define PPM_CHANNEL_LOCK 4 /**< should be less than the input timeout */
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__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
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__EXPORT uint16_t ppm_frame_length = 0;
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@ -364,12 +364,12 @@ unsigned ppm_pulse_next;
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static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
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/* PPM decoder state machine */
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/** PPM decoder state machine */
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struct {
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uint16_t last_edge; /* last capture time */
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uint16_t last_mark; /* last significant edge */
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uint16_t frame_start; /* the frame width */
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unsigned next_channel; /* next channel index */
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uint16_t last_edge; /**< last capture time */
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uint16_t last_mark; /**< last significant edge */
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uint16_t frame_start; /**< the frame width */
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unsigned next_channel; /**< next channel index */
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enum {
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UNSYNCH = 0,
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ARM,
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@ -391,7 +391,7 @@ static void hrt_ppm_decode(uint32_t status);
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# define CCER_PPM 0
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#endif /* HRT_PPM_CHANNEL */
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/*
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/**
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* Initialise the timer we are going to use.
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*
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* We expect that we'll own one of the reduced-function STM32 general
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@ -437,7 +437,7 @@ hrt_tim_init(void)
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}
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#ifdef HRT_PPM_CHANNEL
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/*
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/**
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* Handle the PPM decoder state machine.
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*/
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static void
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@ -577,7 +577,7 @@ error:
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}
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#endif /* HRT_PPM_CHANNEL */
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/*
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/**
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* Handle the compare interupt by calling the callout dispatcher
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* and then re-scheduling the next deadline.
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*/
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@ -606,6 +606,7 @@ hrt_tim_isr(int irq, void *context)
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hrt_ppm_decode(status);
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}
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#endif
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/* was this a timer tick? */
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@ -624,7 +625,7 @@ hrt_tim_isr(int irq, void *context)
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return OK;
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}
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/*
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/**
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* Fetch a never-wrapping absolute time value in microseconds from
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* some arbitrary epoch shortly after system start.
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*/
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@ -671,7 +672,7 @@ hrt_absolute_time(void)
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return abstime;
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}
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/*
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/**
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* Convert a timespec to absolute time
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*/
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hrt_abstime
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@ -685,7 +686,7 @@ ts_to_abstime(struct timespec *ts)
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return result;
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}
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/*
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/**
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* Convert absolute time to a timespec.
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*/
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void
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@ -696,7 +697,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
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ts->tv_nsec = abstime * 1000;
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}
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/*
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/**
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* Compare a time value with the current time.
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*/
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hrt_abstime
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@ -711,7 +712,7 @@ hrt_elapsed_time(const volatile hrt_abstime *then)
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return delta;
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}
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/*
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/**
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* Store the absolute time in an interrupt-safe fashion
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*/
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hrt_abstime
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@ -726,7 +727,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now)
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return ts;
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}
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/*
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/**
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* Initalise the high-resolution timing module.
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*/
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void
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@ -741,7 +742,7 @@ hrt_init(void)
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#endif
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}
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/*
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/**
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* Call callout(arg) after interval has elapsed.
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*/
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void
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@ -754,7 +755,7 @@ hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, v
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arg);
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}
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/*
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/**
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* Call callout(arg) at calltime.
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*/
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void
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@ -763,7 +764,7 @@ hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, v
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hrt_call_internal(entry, calltime, 0, callout, arg);
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}
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/*
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/**
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* Call callout(arg) every period.
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*/
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void
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@ -782,13 +783,13 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
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irqstate_t flags = irqsave();
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/* if the entry is currently queued, remove it */
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/* note that we are using a potentially uninitialised
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entry->link here, but it is safe as sq_rem() doesn't
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dereference the passed node unless it is found in the
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list. So we potentially waste a bit of time searching the
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queue for the uninitialised entry->link but we don't do
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anything actually unsafe.
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*/
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/* note that we are using a potentially uninitialised
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entry->link here, but it is safe as sq_rem() doesn't
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dereference the passed node unless it is found in the
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list. So we potentially waste a bit of time searching the
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queue for the uninitialised entry->link but we don't do
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anything actually unsafe.
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*/
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if (entry->deadline != 0)
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sq_rem(&entry->link, &callout_queue);
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@ -802,7 +803,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
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irqrestore(flags);
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}
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/*
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/**
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* If this returns true, the call has been invoked and removed from the callout list.
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*
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* Always returns false for repeating callouts.
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@ -813,7 +814,7 @@ hrt_called(struct hrt_call *entry)
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return (entry->deadline == 0);
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}
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/*
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/**
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* Remove the entry from the callout list.
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*/
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void
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@ -896,17 +897,18 @@ hrt_call_invoke(void)
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/* if the callout has a non-zero period, it has to be re-entered */
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if (call->period != 0) {
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// re-check call->deadline to allow for
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// callouts to re-schedule themselves
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// callouts to re-schedule themselves
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// using hrt_call_delay()
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if (call->deadline <= now) {
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call->deadline = deadline + call->period;
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}
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hrt_call_enter(call);
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}
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}
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}
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/*
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/**
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* Reschedule the next timer interrupt.
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*
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* This routine must be called with interrupts disabled.
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