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Fixed whitespace

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This commit is contained in:
Martin Budden 2017-08-17 08:13:45 +01:00
parent 786343e2b2
commit 8dd4a584c1
53 changed files with 311 additions and 311 deletions
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136
src/main/drivers/serial_tcp.c
View file

@ -42,73 +42,73 @@ static tcpPort_t tcpSerialPorts[SERIAL_PORT_COUNT];
static bool tcpPortInitialized[SERIAL_PORT_COUNT]; static bool tcpPortInitialized[SERIAL_PORT_COUNT];
static bool tcpStart = false; static bool tcpStart = false;
bool tcpIsStart(void) { bool tcpIsStart(void) {
return tcpStart; return tcpStart;
} }
static void onData(dyad_Event *e) { static void onData(dyad_Event *e) {
tcpPort_t* s = (tcpPort_t*)(e->udata); tcpPort_t* s = (tcpPort_t*)(e->udata);
tcpDataIn(s, (uint8_t*)e->data, e->size); tcpDataIn(s, (uint8_t*)e->data, e->size);
} }
static void onClose(dyad_Event *e) { static void onClose(dyad_Event *e) {
tcpPort_t* s = (tcpPort_t*)(e->udata); tcpPort_t* s = (tcpPort_t*)(e->udata);
s->clientCount--; s->clientCount--;
s->conn = NULL; s->conn = NULL;
fprintf(stderr, "[CLS]UART%u: %d,%d\n", s->id + 1, s->connected, s->clientCount); fprintf(stderr, "[CLS]UART%u: %d,%d\n", s->id + 1, s->connected, s->clientCount);
if (s->clientCount == 0) { if (s->clientCount == 0) {
s->connected = false; s->connected = false;
} }
} }
static void onAccept(dyad_Event *e) { static void onAccept(dyad_Event *e) {
tcpPort_t* s = (tcpPort_t*)(e->udata); tcpPort_t* s = (tcpPort_t*)(e->udata);
fprintf(stderr, "New connection on UART%u, %d\n", s->id + 1, s->clientCount); fprintf(stderr, "New connection on UART%u, %d\n", s->id + 1, s->clientCount);
s->connected = true; s->connected = true;
if (s->clientCount > 0) { if (s->clientCount > 0) {
dyad_close(e->remote); dyad_close(e->remote);
return; return;
} }
s->clientCount++; s->clientCount++;
fprintf(stderr, "[NEW]UART%u: %d,%d\n", s->id + 1, s->connected, s->clientCount); fprintf(stderr, "[NEW]UART%u: %d,%d\n", s->id + 1, s->connected, s->clientCount);
s->conn = e->remote; s->conn = e->remote;
dyad_setNoDelay(e->remote, 1); dyad_setNoDelay(e->remote, 1);
dyad_setTimeout(e->remote, 120); dyad_setTimeout(e->remote, 120);
dyad_addListener(e->remote, DYAD_EVENT_DATA, onData, e->udata); dyad_addListener(e->remote, DYAD_EVENT_DATA, onData, e->udata);
dyad_addListener(e->remote, DYAD_EVENT_CLOSE, onClose, e->udata); dyad_addListener(e->remote, DYAD_EVENT_CLOSE, onClose, e->udata);
} }
static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id) static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id)
{ {
if (tcpPortInitialized[id]) { if (tcpPortInitialized[id]) {
fprintf(stderr, "port is already initialized!\n"); fprintf(stderr, "port is already initialized!\n");
return s; return s;
} }
if (pthread_mutex_init(&s->txLock, NULL) != 0) { if (pthread_mutex_init(&s->txLock, NULL) != 0) {
fprintf(stderr, "TX mutex init failed - %d\n", errno); fprintf(stderr, "TX mutex init failed - %d\n", errno);
// TODO: clean up & re-init // TODO: clean up & re-init
return NULL; return NULL;
} }
if (pthread_mutex_init(&s->rxLock, NULL) != 0) { if (pthread_mutex_init(&s->rxLock, NULL) != 0) {
fprintf(stderr, "RX mutex init failed - %d\n", errno); fprintf(stderr, "RX mutex init failed - %d\n", errno);
// TODO: clean up & re-init // TODO: clean up & re-init
return NULL; return NULL;
} }
tcpStart = true; tcpStart = true;
tcpPortInitialized[id] = true; tcpPortInitialized[id] = true;
s->connected = false; s->connected = false;
s->clientCount = 0; s->clientCount = 0;
s->id = id; s->id = id;
s->conn = NULL; s->conn = NULL;
s->serv = dyad_newStream(); s->serv = dyad_newStream();
dyad_setNoDelay(s->serv, 1); dyad_setNoDelay(s->serv, 1);
dyad_addListener(s->serv, DYAD_EVENT_ACCEPT, onAccept, s); dyad_addListener(s->serv, DYAD_EVENT_ACCEPT, onAccept, s);
if (dyad_listenEx(s->serv, NULL, BASE_PORT + id + 1, 10) == 0) { if (dyad_listenEx(s->serv, NULL, BASE_PORT + id + 1, 10) == 0) {
fprintf(stderr, "bind port %u for UART%u\n", (unsigned)BASE_PORT + id + 1, (unsigned)id + 1); fprintf(stderr, "bind port %u for UART%u\n", (unsigned)BASE_PORT + id + 1, (unsigned)id + 1);
} else { } else {
fprintf(stderr, "bind port %u for UART%u failed!!\n", (unsigned)BASE_PORT + id + 1, (unsigned)id + 1); fprintf(stderr, "bind port %u for UART%u failed!!\n", (unsigned)BASE_PORT + id + 1, (unsigned)id + 1);
} }
return s; return s;
} }
serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, uint32_t baudRate, portMode_e mode, portOptions_e options) serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, uint32_t baudRate, portMode_e mode, portOptions_e options)
@ -117,7 +117,7 @@ serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, uint32_t b
#if defined(USE_UART1) || defined(USE_UART2) || defined(USE_UART3) || defined(USE_UART4) || defined(USE_UART5) || defined(USE_UART6) || defined(USE_UART7) || defined(USE_UART8) #if defined(USE_UART1) || defined(USE_UART2) || defined(USE_UART3) || defined(USE_UART4) || defined(USE_UART5) || defined(USE_UART6) || defined(USE_UART7) || defined(USE_UART8)
if (id >= 0 && id < SERIAL_PORT_COUNT) { if (id >= 0 && id < SERIAL_PORT_COUNT) {
s = tcpReconfigure(&tcpSerialPorts[id], id); s = tcpReconfigure(&tcpSerialPorts[id], id);
} }
#endif #endif
if (!s) if (!s)
@ -128,10 +128,10 @@ serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, uint32_t b
// common serial initialisation code should move to serialPort::init() // common serial initialisation code should move to serialPort::init()
s->port.rxBufferHead = s->port.rxBufferTail = 0; s->port.rxBufferHead = s->port.rxBufferTail = 0;
s->port.txBufferHead = s->port.txBufferTail = 0; s->port.txBufferHead = s->port.txBufferTail = 0;
s->port.rxBufferSize = RX_BUFFER_SIZE; s->port.rxBufferSize = RX_BUFFER_SIZE;
s->port.txBufferSize = TX_BUFFER_SIZE; s->port.txBufferSize = TX_BUFFER_SIZE;
s->port.rxBuffer = s->rxBuffer; s->port.rxBuffer = s->rxBuffer;
s->port.txBuffer = s->txBuffer; s->port.txBuffer = s->txBuffer;
// callback works for IRQ-based RX ONLY // callback works for IRQ-based RX ONLY
s->port.rxCallback = rxCallback; s->port.rxCallback = rxCallback;
@ -239,19 +239,19 @@ void tcpDataOut(tcpPort_t *instance)
void tcpDataIn(tcpPort_t *instance, uint8_t* ch, int size) void tcpDataIn(tcpPort_t *instance, uint8_t* ch, int size)
{ {
tcpPort_t *s = (tcpPort_t *)instance; tcpPort_t *s = (tcpPort_t *)instance;
pthread_mutex_lock(&s->rxLock); pthread_mutex_lock(&s->rxLock);
while (size--) { while (size--) {
// printf("%c", *ch); // printf("%c", *ch);
s->port.rxBuffer[s->port.rxBufferHead] = *(ch++); s->port.rxBuffer[s->port.rxBufferHead] = *(ch++);
if (s->port.rxBufferHead + 1 >= s->port.rxBufferSize) { if (s->port.rxBufferHead + 1 >= s->port.rxBufferSize) {
s->port.rxBufferHead = 0; s->port.rxBufferHead = 0;
} else { } else {
s->port.rxBufferHead++; s->port.rxBufferHead++;
} }
} }
pthread_mutex_unlock(&s->rxLock); pthread_mutex_unlock(&s->rxLock);
// printf("\n"); // printf("\n");
} }
static const struct serialPortVTable tcpVTable = { static const struct serialPortVTable tcpVTable = {

12
src/main/drivers/transponder_ir.h
View file

@ -50,12 +50,12 @@
/*** ERLT ***/ /*** ERLT ***/
#define TRANSPONDER_DATA_LENGTH_ERLT 1 #define TRANSPONDER_DATA_LENGTH_ERLT 1
#define ERLTBitQuiet 0 #define ERLTBitQuiet 0
#define ERLTCyclesForOneBit 25 #define ERLTCyclesForOneBit 25
#define ERLTCyclesForZeroBit 10 #define ERLTCyclesForZeroBit 10
#define TRANSPONDER_DMA_BUFFER_SIZE_ERLT 200 // actually ERLT is variable length 91-196 depending on the ERLT id #define TRANSPONDER_DMA_BUFFER_SIZE_ERLT 200 // actually ERLT is variable length 91-196 depending on the ERLT id
#define TRANSPONDER_TIMER_MHZ_ERLT 18 #define TRANSPONDER_TIMER_MHZ_ERLT 18
#define TRANSPONDER_CARRIER_HZ_ERLT 38000 #define TRANSPONDER_CARRIER_HZ_ERLT 38000
#define TRANSPONDER_TRANSMIT_DELAY_ERLT 22500 #define TRANSPONDER_TRANSMIT_DELAY_ERLT 22500
#define TRANSPONDER_TRANSMIT_JITTER_ERLT 5000 #define TRANSPONDER_TRANSMIT_JITTER_ERLT 5000
/*** ******** ***/ /*** ******** ***/

44
src/main/drivers/transponder_ir_erlt.c
View file

@ -36,40 +36,40 @@ void transponderIrInitERLT(transponder_t *transponder){
void addBitToBuffer(transponder_t *transponder, uint8_t cycles, uint8_t pulsewidth) void addBitToBuffer(transponder_t *transponder, uint8_t cycles, uint8_t pulsewidth)
{ {
for (int i = 0; i < cycles; i++) { for (int i = 0; i < cycles; i++) {
transponder->transponderIrDMABuffer.erlt[dmaBufferOffset++] = pulsewidth; transponder->transponderIrDMABuffer.erlt[dmaBufferOffset++] = pulsewidth;
} }
} }
void updateTransponderDMABufferERLT(transponder_t *transponder, const uint8_t* transponderData) void updateTransponderDMABufferERLT(transponder_t *transponder, const uint8_t* transponderData)
{ {
uint8_t byteToSend = ~(*transponderData); //transponderData is stored inverted, so invert before using uint8_t byteToSend = ~(*transponderData); //transponderData is stored inverted, so invert before using
uint8_t paritysum = 0; //sum of one bits uint8_t paritysum = 0; //sum of one bits
dmaBufferOffset = 0; //reset buffer count dmaBufferOffset = 0; //reset buffer count
//start bit 1, always pulsed, bit value = 0 //start bit 1, always pulsed, bit value = 0
addBitToBuffer(transponder, ERLTCyclesForZeroBit, transponder->bitToggleOne); addBitToBuffer(transponder, ERLTCyclesForZeroBit, transponder->bitToggleOne);
//start bit 2, always not pulsed, bit value = 0 //start bit 2, always not pulsed, bit value = 0
addBitToBuffer(transponder, ERLTCyclesForZeroBit, ERLTBitQuiet); addBitToBuffer(transponder, ERLTCyclesForZeroBit, ERLTBitQuiet);
//add data bits, only the 6 LSB //add data bits, only the 6 LSB
for (int i = 5; i >= 0; i--) for (int i = 5; i >= 0; i--)
{ {
uint8_t bv = (byteToSend >> i) & 0x01; uint8_t bv = (byteToSend >> i) & 0x01;
paritysum += bv; paritysum += bv;
addBitToBuffer(transponder, (bv ? ERLTCyclesForOneBit : ERLTCyclesForZeroBit), ((i % 2) ? transponder->bitToggleOne : ERLTBitQuiet)); addBitToBuffer(transponder, (bv ? ERLTCyclesForOneBit : ERLTCyclesForZeroBit), ((i % 2) ? transponder->bitToggleOne : ERLTBitQuiet));
} }
//parity bit, always pulsed, bit value is zero if sum is even, one if odd //parity bit, always pulsed, bit value is zero if sum is even, one if odd
addBitToBuffer(transponder, ((paritysum % 2) ? ERLTCyclesForOneBit : ERLTCyclesForZeroBit), transponder->bitToggleOne); addBitToBuffer(transponder, ((paritysum % 2) ? ERLTCyclesForOneBit : ERLTCyclesForZeroBit), transponder->bitToggleOne);
//add final zero after the pulsed parity bit to stop pulses until the next update //add final zero after the pulsed parity bit to stop pulses until the next update
transponder->transponderIrDMABuffer.erlt[dmaBufferOffset++] = ERLTBitQuiet; transponder->transponderIrDMABuffer.erlt[dmaBufferOffset++] = ERLTBitQuiet;
//reset buffer size to that required by this ERLT id //reset buffer size to that required by this ERLT id
transponder->dma_buffer_size = dmaBufferOffset; transponder->dma_buffer_size = dmaBufferOffset;
} }
const struct transponderVTable erltTansponderVTable = { const struct transponderVTable erltTansponderVTable = {

6
src/main/fc/cli.c
View file

@ -2112,8 +2112,8 @@ static void cliBeeper(char *cmdline)
#ifdef FRSKY_BIND #ifdef FRSKY_BIND
void cliFrSkyBind(char *cmdline){ void cliFrSkyBind(char *cmdline){
UNUSED(cmdline); UNUSED(cmdline);
frSkyDBind(); frSkyDBind();
} }
#endif #endif
@ -2391,7 +2391,7 @@ static void cliDshotProg(char *cmdline)
} }
} else { } else {
writeDshotCommand(escIndex, command); writeDshotCommand(escIndex, command);
} }
cliPrintLinef("Command %d written.", command); cliPrintLinef("Command %d written.", command);

2
src/main/flight/mixer.c
View file

@ -512,7 +512,7 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
if((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { if((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) {
motorOutputMax = deadbandMotor3dLow; motorOutputMax = deadbandMotor3dLow;
motorOutputMin = motorOutputLow; motorOutputMin = motorOutputLow;
throttlePrevious = rcCommand[THROTTLE]; //3D Mode Throttle Fix #3696 throttlePrevious = rcCommand[THROTTLE]; //3D Mode Throttle Fix #3696
throttle = rcCommand[THROTTLE] - rxConfig()->mincheck; //3D Mode Throttle Fix #3696 throttle = rcCommand[THROTTLE] - rxConfig()->mincheck; //3D Mode Throttle Fix #3696
currentThrottleInputRange = rcCommandThrottleRange3dLow; currentThrottleInputRange = rcCommandThrottleRange3dLow;
if(isMotorProtocolDshot()) mixerInversion = true; if(isMotorProtocolDshot()) mixerInversion = true;

4
src/main/target/ALIENWHOOP/config.c
View file

@ -61,8 +61,8 @@ void targetConfiguration(void)
{ {
if (hardwareMotorType == MOTOR_BRUSHED) { if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE; motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->minthrottle = 1080; motorConfigMutable()->minthrottle = 1080;
motorConfigMutable()->maxthrottle = 2000; motorConfigMutable()->maxthrottle = 2000;
pidConfigMutable()->pid_process_denom = 1; pidConfigMutable()->pid_process_denom = 1;
} }

20
src/main/target/LUMBAF3/target.c
View file

@ -26,16 +26,16 @@
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM2, CH2, PA1, TIM_USE_PPM, TIMER_INPUT_ENABLED), // PPM DEF_TIM(TIM2, CH2, PA1, TIM_USE_PPM, TIMER_INPUT_ENABLED), // PPM
DEF_TIM(TIM3, CH3, PB0, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Rx DEF_TIM(TIM3, CH3, PB0, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Rx
DEF_TIM(TIM3, CH2, PB5, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Tx DEF_TIM(TIM3, CH2, PB5, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Tx
DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S1 DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S1
DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S2 DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S2
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S3 DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S3
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S4 DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S4
DEF_TIM(TIM16, CH1, PB4, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S5 DEF_TIM(TIM16, CH1, PB4, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S5
DEF_TIM(TIM15, CH1, PA2, TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED_STRIP DEF_TIM(TIM15, CH1, PA2, TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED_STRIP
DEF_TIM(TIM2, CH1, PA15, TIM_USE_ANY, TIMER_OUTPUT_ENABLED), // CAMERA CONTROL DEF_TIM(TIM2, CH1, PA15, TIM_USE_ANY, TIMER_OUTPUT_ENABLED), // CAMERA CONTROL
}; };

2
src/main/target/LUMBAF3/target.h
View file

@ -75,7 +75,7 @@
#define LED_STRIP #define LED_STRIP
#define CAMERA_CONTROL_PIN PA15 #define CAMERA_CONTROL_PIN PA15
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS #define SERIALRX_PROVIDER SERIALRX_SBUS

2
src/main/target/SITL/target.h
View file

@ -233,7 +233,7 @@ typedef struct {
double position_xyz[3]; // meters, NED from origin double position_xyz[3]; // meters, NED from origin
} fdm_packet; } fdm_packet;
typedef struct { typedef struct {
float motor_speed[4]; // normal: [0.0, 1.0], 3D: [-1.0, 1.0] float motor_speed[4]; // normal: [0.0, 1.0], 3D: [-1.0, 1.0]
} servo_packet; } servo_packet;
void FLASH_Unlock(void); void FLASH_Unlock(void);

12
src/main/target/SITL/udplink.h
View file

@ -20,12 +20,12 @@ extern "C" {
#endif #endif
typedef struct { typedef struct {
int fd; int fd;
struct sockaddr_in si; struct sockaddr_in si;
struct sockaddr_in recv; struct sockaddr_in recv;
int port; int port;
char* addr; char* addr;
bool isServer; bool isServer;
} udpLink_t; } udpLink_t;
int udpInit(udpLink_t* link, const char* addr, int port, bool isServer); int udpInit(udpLink_t* link, const char* addr, int port, bool isServer);

18
src/main/telemetry/srxl.c
View file

@ -183,15 +183,15 @@ void srxlFrameRpm(sbuf_t *dst)
/* /*
typedef struct typedef struct
{ {
UINT8 identifier; // Source device = 0x34 UINT8 identifier; // Source device = 0x34
UINT8 sID; // Secondary ID UINT8 sID; // Secondary ID
INT16 current_A; // Instantaneous current, 0.1A (0-3276.8A) INT16 current_A; // Instantaneous current, 0.1A (0-3276.8A)
INT16 chargeUsed_A; // Integrated mAh used, 1mAh (0-32.766Ah) INT16 chargeUsed_A; // Integrated mAh used, 1mAh (0-32.766Ah)
UINT16 temp_A; // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated) UINT16 temp_A; // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
INT16 current_B; // Instantaneous current, 0.1A (0-3276.8A) INT16 current_B; // Instantaneous current, 0.1A (0-3276.8A)
INT16 chargeUsed_B; // Integrated mAh used, 1mAh (0-32.766Ah) INT16 chargeUsed_B; // Integrated mAh used, 1mAh (0-32.766Ah)
UINT16 temp_B; // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated) UINT16 temp_B; // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
UINT16 spare; // Not used UINT16 spare; // Not used
} STRU_TELE_FP_MAH; } STRU_TELE_FP_MAH;
*/ */