Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-14 11:59:58 +03:00
Code Issues Wiki Activity

Fix function brace style

Browse source
This commit is contained in:
Mathias Rasmussen 2021-12-29 21:51:43 +01:00 • committed by KarateBrot
parent 6a06f0e408
commit 9957ceb275
83 changed files with 494 additions and 251 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/blackbox/blackbox.c
View file

@ -998,7 +998,8 @@ static void stopInTestMode(void)
* Of course, after the 5 seconds and shutdown of the logger, the system will be re-enabled to allow the
* test mode to trigger again; its just that the data will be in a second, third, fourth etc log file.
*/
static bool inMotorTestMode(void) {
static bool inMotorTestMode(void)
{
static uint32_t resetTime = 0;
if (!ARMING_FLAG(ARMED) && areMotorsRunning()) {
@ -1959,11 +1960,13 @@ uint8_t blackboxGetRateDenom(void)
}
uint16_t blackboxGetPRatio(void) {
uint16_t blackboxGetPRatio(void)
{
return blackboxIInterval / blackboxPInterval;
}
uint8_t blackboxCalculateSampleRate(uint16_t pRatio) {
uint8_t blackboxCalculateSampleRate(uint16_t pRatio)
{
return LOG2(32000 / (targetPidLooptime * pRatio));
}

3
src/main/cli/cli.c
View file

@ -3640,7 +3640,8 @@ static void cliDumpGyroRegisters(const char *cmdName, char *cmdline)
#endif
static int parseOutputIndex(const char *cmdName, char *pch, bool allowAllEscs) {
static int parseOutputIndex(const char *cmdName, char *pch, bool allowAllEscs)
{
int outputIndex = atoi(pch);
if ((outputIndex >= 0) && (outputIndex < getMotorCount())) {
cliPrintLinef("Using output %d.", outputIndex);

6
src/main/common/explog_approx.c
View file

@ -39,7 +39,8 @@ float exp_cst2 = 0.f;
/* Relative error bounded by 1e-5 for normalized outputs
Returns invalid outputs for nan inputs
Continuous error */
float exp_approx(float val) {
float exp_approx(float val)
{
union { int32_t i; float f; } xu, xu2;
float val2, val3, val4, b;
int32_t val4i;
@ -70,7 +71,8 @@ float exp_approx(float val) {
Returns a finite number for +inf input
Returns -inf for nan and <= 0 inputs.
Continuous error. */
float log_approx(float val) {
float log_approx(float val)
{
union { float f; int32_t i; } valu;
float exp, addcst, x;
valu.f = val;

15
src/main/common/maths.c
View file

@ -167,13 +167,15 @@ float degreesToRadians(int16_t degrees)
return degrees * RAD;
}
int scaleRange(int x, int srcFrom, int srcTo, int destFrom, int destTo) {
int scaleRange(int x, int srcFrom, int srcTo, int destFrom, int destTo)
{
long int a = ((long int) destTo - (long int) destFrom) * ((long int) x - (long int) srcFrom);
long int b = (long int) srcTo - (long int) srcFrom;
return (a / b) + destFrom;
}
float scaleRangef(float x, float srcFrom, float srcTo, float destFrom, float destTo) {
float scaleRangef(float x, float srcFrom, float srcTo, float destFrom, float destTo)
{
float a = (destTo - destFrom) * (x - srcFrom);
float b = srcTo - srcFrom;
return (a / b) + destFrom;
@ -329,14 +331,17 @@ void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count)
}
}
int16_t qPercent(fix12_t q) {
int16_t qPercent(fix12_t q)
{
return (100 * q) >> 12;
}
int16_t qMultiply(fix12_t q, int16_t input) {
int16_t qMultiply(fix12_t q, int16_t input)
{
return (input * q) >> 12;
}
fix12_t qConstruct(int16_t num, int16_t den) {
fix12_t qConstruct(int16_t num, int16_t den)
{
return (num << 12) / den;
}

3
src/main/config/config_eeprom.c
View file

@ -237,7 +237,8 @@ bool loadEEPROMFromSDCard(void)
#endif
#ifdef CONFIG_IN_FILE
void loadEEPROMFromFile(void) {
void loadEEPROMFromFile(void)
{
FLASH_Unlock(); // load existing config file into eepromData
}
#endif

26
src/main/drivers/bus_i2c_stm32f4xx.c
View file

@ -129,28 +129,34 @@ i2cDevice_t i2cDevice[I2CDEV_COUNT];
static volatile uint16_t i2cErrorCount = 0;
void I2C1_ER_IRQHandler(void) {
void I2C1_ER_IRQHandler(void)
{
i2c_er_handler(I2CDEV_1);
}
void I2C1_EV_IRQHandler(void) {
void I2C1_EV_IRQHandler(void)
{
i2c_ev_handler(I2CDEV_1);
}
void I2C2_ER_IRQHandler(void) {
void I2C2_ER_IRQHandler(void)
{
i2c_er_handler(I2CDEV_2);
}
void I2C2_EV_IRQHandler(void) {
void I2C2_EV_IRQHandler(void)
{
i2c_ev_handler(I2CDEV_2);
}
#ifdef STM32F4
void I2C3_ER_IRQHandler(void) {
void I2C3_ER_IRQHandler(void)
{
i2c_er_handler(I2CDEV_3);
}
void I2C3_EV_IRQHandler(void) {
void I2C3_EV_IRQHandler(void)
{
i2c_ev_handler(I2CDEV_3);
}
#endif
@ -284,8 +290,8 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t
return i2cReadBuffer(device, addr_, reg_, len, buf) && i2cWait(device);
}
static void i2c_er_handler(I2CDevice device) {
static void i2c_er_handler(I2CDevice device)
{
I2C_TypeDef *I2Cx = i2cDevice[device].hardware->reg;
i2cState_t *state = &i2cDevice[device].state;
@ -317,8 +323,8 @@ static void i2c_er_handler(I2CDevice device) {
state->busy = 0;
}
void i2c_ev_handler(I2CDevice device) {
void i2c_ev_handler(I2CDevice device)
{
I2C_TypeDef *I2Cx = i2cDevice[device].hardware->reg;
i2cState_t *state = &i2cDevice[device].state;

3
src/main/drivers/compass/compass_ak8963.c
View file

@ -295,7 +295,8 @@ static bool ak8963DirectReadData(const extDevice_t *dev, uint8_t *buf)
return ak8963ReadRegisterBuffer(dev, AK8963_MAG_REG_HXL, buf, 7);
}
static int16_t parseMag(uint8_t *raw, int16_t gain) {
static int16_t parseMag(uint8_t *raw, int16_t gain)
{
int ret = (int16_t)(raw[1] << 8 | raw[0]) * gain / 256;
return constrain(ret, INT16_MIN, INT16_MAX);
}

3
src/main/drivers/compass/compass_ak8975.c
View file

@ -111,7 +111,8 @@ static bool ak8975Init(magDev_t *mag)
return true;
}
static int16_t parseMag(uint8_t *raw, int16_t gain) {
static int16_t parseMag(uint8_t *raw, int16_t gain)
{
int ret = (int16_t)(raw[1] << 8 | raw[0]) * gain / 256;
return constrain(ret, INT16_MIN, INT16_MAX);
}

4
src/main/drivers/dshot.c
View file

@ -46,8 +46,8 @@
#include "rx/rx.h"
#include "dshot.h"
void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) {
void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow)
{
float outputLimitOffset = DSHOT_RANGE * (1 - outputLimit);
*disarm = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {

6
src/main/drivers/motor.c
View file

@ -84,7 +84,8 @@ motorVTable_t motorGetVTable(void)
}
// This is not motor generic anymore; should be moved to analog pwm module
static void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) {
static void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow)
{
if (featureIsEnabled(FEATURE_3D)) {
float outputLimitOffset = (flight3DConfig()->limit3d_high - flight3DConfig()->limit3d_low) * (1 - outputLimit) / 2;
*disarm = flight3DConfig()->neutral3d;
@ -256,7 +257,8 @@ bool isMotorProtocolDshot(void)
return motorProtocolDshot;
}
void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount) {
void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount)
{
memset(motors, 0, sizeof(motors));
bool useUnsyncedPwm = motorDevConfig->useUnsyncedPwm;

3
src/main/drivers/rx/rx_a7105.c
View file

@ -76,7 +76,8 @@ void A7105Config(const uint8_t *regsTable, uint8_t size)
}
}
bool A7105RxTxFinished(timeUs_t *timeStamp) {
bool A7105RxTxFinished(timeUs_t *timeStamp)
{
bool result = false;
if (consumeExti && rxSpiPollExti()) {

9
src/main/drivers/sdio_f4xx.c
View file

@ -690,12 +690,14 @@ SD_Error_t SD_WriteBlocks_DMA(uint64_t WriteAddress, uint32_t *buffer, uint32_t
return ErrorState;
}
SD_Error_t SD_CheckWrite(void) {
SD_Error_t SD_CheckWrite(void)
{
if (SD_Handle.TXCplt != 0) return SD_BUSY;
return SD_OK;
}
SD_Error_t SD_CheckRead(void) {
SD_Error_t SD_CheckRead(void)
{
if (SD_Handle.RXCplt != 0) return SD_BUSY;
return SD_OK;
}
@ -1724,7 +1726,8 @@ SD_Error_t SD_Init(void)
/**
* @brief This function handles SD card interrupt request.
*/
void SDIO_IRQHandler(void) {
void SDIO_IRQHandler(void)
{
// Check for SDIO interrupt flags
if ((SDIO->STA & SDIO_STA_DATAEND) != 0) {
SDIO->ICR = SDIO_ICR_DATAENDC;

9
src/main/drivers/sdio_f7xx.c
View file

@ -672,12 +672,14 @@ SD_Error_t SD_WriteBlocks_DMA(uint64_t WriteAddress, uint32_t *buffer, uint32_t
return ErrorState;
}
SD_Error_t SD_CheckWrite(void) {
SD_Error_t SD_CheckWrite(void)
{
if (SD_Handle.TXCplt != 0) return SD_BUSY;
return SD_OK;
}
SD_Error_t SD_CheckRead(void) {
SD_Error_t SD_CheckRead(void)
{
if (SD_Handle.RXCplt != 0) return SD_BUSY;
return SD_OK;
}
@ -1705,7 +1707,8 @@ SD_Error_t SD_Init(void)
/**
* @brief This function handles SD card interrupt request.
*/
void SDMMC1_IRQHandler(void) {
void SDMMC1_IRQHandler(void)
{
// Check for SDMMC1 interrupt flags
if ((SDMMC1->STA & SDMMC_STA_DATAEND) != 0) {
SDMMC1->ICR = SDMMC_ICR_DATAENDC;

6
src/main/drivers/sdio_h7xx.c
View file

@ -540,12 +540,14 @@ SD_Error_t SD_Init(void)
return result;
}
SD_Error_t SD_CheckWrite(void) {
SD_Error_t SD_CheckWrite(void)
{
if (SD_Handle.TXCplt != 0) return SD_BUSY;
return SD_OK;
}
SD_Error_t SD_CheckRead(void) {
SD_Error_t SD_CheckRead(void)
{
if (SD_Handle.RXCplt != 0) return SD_BUSY;
return SD_OK;
}

12
src/main/drivers/serial_tcp.c
View file

@ -44,14 +44,17 @@ static const struct serialPortVTable tcpVTable; // Forward
static tcpPort_t tcpSerialPorts[SERIAL_PORT_COUNT];
static bool tcpPortInitialized[SERIAL_PORT_COUNT];
static bool tcpStart = false;
bool tcpIsStart(void) {
bool tcpIsStart(void)
{
return tcpStart;
}
static void onData(dyad_Event *e) {
static void onData(dyad_Event *e)
{
tcpPort_t* s = (tcpPort_t*)(e->udata);
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);
s->clientCount--;
s->conn = NULL;
@ -60,7 +63,8 @@ static void onClose(dyad_Event *e) {
s->connected = false;
}
}
static void onAccept(dyad_Event *e) {
static void onAccept(dyad_Event *e)
{
tcpPort_t* s = (tcpPort_t*)(e->udata);
fprintf(stderr, "New connection on UART%u, %d\n", s->id + 1, s->clientCount);

3
src/main/drivers/serial_uart_hal.c
View file

@ -46,7 +46,8 @@
#include "drivers/serial_uart.h"
#include "drivers/serial_uart_impl.h"
static void usartConfigurePinInversion(uartPort_t *uartPort) {
static void usartConfigurePinInversion(uartPort_t *uartPort)
{
bool inverted = uartPort->port.options & SERIAL_INVERTED;
if (inverted)

3
src/main/drivers/serial_uart_stdperiph.c
View file

@ -48,7 +48,8 @@
#include "drivers/serial_uart.h"
#include "drivers/serial_uart_impl.h"
static void usartConfigurePinInversion(uartPort_t *uartPort) {
static void usartConfigurePinInversion(uartPort_t *uartPort)
{
#if !defined(USE_INVERTER)
UNUSED(uartPort);
#else

6
src/main/drivers/stm32f7xx_ll_ex.h
View file

@ -44,14 +44,16 @@ __STATIC_INLINE uint32_t LL_EX_DMA_Stream_to_Stream(DMA_Stream_TypeDef *DMAx_Str
#undef DMA_STREAM_MASK
__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, LL_DMA_InitTypeDef *DMA_InitStruct) {
__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, LL_DMA_InitTypeDef *DMA_InitStruct)
{
DMA_TypeDef *DMA = LL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
const uint32_t Stream = LL_EX_DMA_Stream_to_Stream(DMAx_Streamy);
return LL_DMA_Init(DMA, Stream, DMA_InitStruct);
}
__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy) {
__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy)
{
DMA_TypeDef *DMA = LL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
const uint32_t Stream = LL_EX_DMA_Stream_to_Stream(DMAx_Streamy);

6
src/main/drivers/stm32g4xx_ll_ex.h
View file

@ -45,14 +45,16 @@ __STATIC_INLINE uint32_t LL_EX_DMA_Channel_to_Channel(DMA_Channel_TypeDef *DMAx_
#undef DMA_FIRST_CHANNEL_OFFSET
#undef DMA_CHANNEL_SIZE
__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Channel_TypeDef *DMAx_Channely, LL_DMA_InitTypeDef *DMA_InitStruct) {
__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Channel_TypeDef *DMAx_Channely, LL_DMA_InitTypeDef *DMA_InitStruct)
{
DMA_TypeDef *DMA = LL_EX_DMA_Channel_to_DMA(DMAx_Channely);
const uint32_t Channel = LL_EX_DMA_Channel_to_Channel(DMAx_Channely);
return LL_DMA_Init(DMA, Channel, DMA_InitStruct);
}
__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Channel_TypeDef *DMAx_Channely) {
__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Channel_TypeDef *DMAx_Channely)
{
DMA_TypeDef *DMA = LL_EX_DMA_Channel_to_DMA(DMAx_Channely);
const uint32_t Channel = LL_EX_DMA_Channel_to_Channel(DMAx_Channely);

6
src/main/drivers/stm32h7xx_ll_ex.h
View file

@ -47,14 +47,16 @@ __STATIC_INLINE uint32_t LL_EX_DMA_Stream_to_Stream(DMA_Stream_TypeDef *DMAx_Str
#undef DMA_STREAM_MASK
__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, LL_DMA_InitTypeDef *DMA_InitStruct) {
__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, LL_DMA_InitTypeDef *DMA_InitStruct)
{
DMA_TypeDef *DMA = LL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
const uint32_t Stream = LL_EX_DMA_Stream_to_Stream(DMAx_Streamy);
return LL_DMA_Init(DMA, Stream, DMA_InitStruct);
}
__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy) {
__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy)
{
DMA_TypeDef *DMA = LL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
const uint32_t Stream = LL_EX_DMA_Stream_to_Stream(DMAx_Streamy);

6
src/main/drivers/timer.c
View file

@ -401,7 +401,8 @@ void timerChOvrHandlerInit(timerOvrHandlerRec_t *self, timerOvrHandlerCallback *
// update overflow callback list
// some synchronization mechanism is neccesary to avoid disturbing other channels (BASEPRI used now)
static void timerChConfig_UpdateOverflow(timerConfig_t *cfg, const TIM_TypeDef *tim) {
static void timerChConfig_UpdateOverflow(timerConfig_t *cfg, const TIM_TypeDef *tim)
{
timerOvrHandlerRec_t **chain = &cfg->overflowCallbackActive;
ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
@ -489,7 +490,8 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_
}
// enable/disable IRQ for low channel in dual configuration
void timerChITConfigDualLo(const timerHardware_t *timHw, FunctionalState newState) {
void timerChITConfigDualLo(const timerHardware_t *timHw, FunctionalState newState)
{
TIM_ITConfig(timHw->tim, TIM_IT_CCx(timHw->channel&~TIM_Channel_2), newState);
}

3
src/main/drivers/transponder_ir_arcitimer.c
View file

@ -34,7 +34,8 @@
extern const struct transponderVTable arcitimerTansponderVTable;
static uint16_t dmaBufferOffset;
void transponderIrInitArcitimer(transponder_t *transponder){
void transponderIrInitArcitimer(transponder_t *transponder)
{
// from drivers/transponder_ir.h
transponder->gap_toggles = TRANSPONDER_GAP_TOGGLES_ARCITIMER;
transponder->dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER;

3
src/main/drivers/transponder_ir_erlt.c
View file

@ -33,7 +33,8 @@
static uint16_t dmaBufferOffset;
extern const struct transponderVTable erltTansponderVTable;
void transponderIrInitERLT(transponder_t *transponder){
void transponderIrInitERLT(transponder_t *transponder)
{
transponder->dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ERLT;
transponder->vTable = &erltTansponderVTable;
transponder->timer_hz = TRANSPONDER_TIMER_MHZ_ERLT;

3
src/main/drivers/transponder_ir_ilap.c
View file

@ -33,7 +33,8 @@
static uint16_t dmaBufferOffset;
extern const struct transponderVTable ilapTansponderVTable;
void transponderIrInitIlap(transponder_t *transponder){
void transponderIrInitIlap(transponder_t *transponder)
{
// from drivers/transponder_ir.h
transponder->gap_toggles = TRANSPONDER_GAP_TOGGLES_ILAP;
transponder->dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ILAP;

3
src/main/fc/controlrate_profile.c
View file

@ -94,7 +94,8 @@ void changeControlRateProfile(uint8_t controlRateProfileIndex)
initRcProcessing();
}
void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex) {
void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex)
{
if ((dstControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT && srcControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT)
&& dstControlRateProfileIndex != srcControlRateProfileIndex
) {

3
src/main/fc/rc.c
View file

@ -733,7 +733,8 @@ rcSmoothingFilter_t *getRcSmoothingData(void)
return &rcSmoothingData;
}
bool rcSmoothingInitializationComplete(void) {
bool rcSmoothingInitializationComplete(void)
{
return rcSmoothingData.filterInitialized;
}
#endif // USE_RC_SMOOTHING_FILTER

3
src/main/fc/rc_controls.c
View file

@ -410,7 +410,8 @@ void processRcStickPositions()
#endif
}
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc)
{
return MIN(ABS(rcData[axis] - midrc), 500);
}

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

@ -79,11 +79,13 @@ void rcModeUpdate(boxBitmask_t *newState)
rcModeActivationMask = *newState;
}
bool airmodeIsEnabled(void) {
bool airmodeIsEnabled(void)
{
return airmodeEnabled;
}
bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range)
{
if (!IS_RANGE_USABLE(range)) {
return false;
}

9
src/main/flight/feedforward.c
View file

@ -48,7 +48,8 @@ typedef struct laggedMovingAverageCombined_s {
} laggedMovingAverageCombined_t;
laggedMovingAverageCombined_t setpointDeltaAvg[XYZ_AXIS_COUNT];
void feedforwardInit(const pidProfile_t *pidProfile) {
void feedforwardInit(const pidProfile_t *pidProfile)
{
const float feedforwardMaxRateScale = pidProfile->feedforward_max_rate_limit * 0.01f;
averagingCount = pidProfile->feedforward_averaging + 1;
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
@ -58,7 +59,8 @@ void feedforwardInit(const pidProfile_t *pidProfile) {
}
}
FAST_CODE_NOINLINE float feedforwardApply(int axis, bool newRcFrame, feedforwardAveraging_t feedforwardAveraging) {
FAST_CODE_NOINLINE float feedforwardApply(int axis, bool newRcFrame, feedforwardAveraging_t feedforwardAveraging)
{
if (newRcFrame) {
@ -191,7 +193,8 @@ FAST_CODE_NOINLINE float feedforwardApply(int axis, bool newRcFrame, feedforward
return setpointDelta[axis]; // the value used by the PID code
}
FAST_CODE_NOINLINE float applyFeedforwardLimit(int axis, float value, float Kp, float currentPidSetpoint) {
FAST_CODE_NOINLINE float applyFeedforwardLimit(int axis, float value, float Kp, float currentPidSetpoint)
{
switch (axis) {
case FD_ROLL:
DEBUG_SET(DEBUG_FEEDFORWARD_LIMIT, 0, value);

3
src/main/flight/imu.c
View file

@ -133,7 +133,8 @@ static void imuQuaternionComputeProducts(quaternion *quat, quaternionProducts *q
quatProd->zz = quat->z * quat->z;
}
STATIC_UNIT_TESTED void imuComputeRotationMatrix(void){
STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)
{
imuQuaternionComputeProducts(&q, &qP);
rMat[0][0] = 1.0f - 2.0f * qP.yy - 2.0f * qP.zz;

6
src/main/flight/mixer.c
View file

@ -424,7 +424,8 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
}
#endif
static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled) {
static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled)
{
float airmodeTransitionPercent = 1.0f;
float motorDeltaScale = 0.5f;
@ -458,7 +459,8 @@ static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnable
throttle = constrainf(throttle, -minMotor, 1.0f - maxMotor);
}
static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const float motorMixMax, const bool airmodeEnabled) {
static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const float motorMixMax, const bool airmodeEnabled)
{
#ifdef USE_AIRMODE_LPF
const float unadjustedThrottle = throttle;
throttle += pidGetAirmodeThrottleOffset();

6
src/main/flight/pid.c
View file

@ -427,7 +427,8 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float calcHorizonLevelStrength()
// The impact is possibly slightly slower performance on F7/H7 but they have more than enough
// processing power that it should be a non-issue.
STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim,
float currentPidSetpoint, float horizonLevelStrength) {
float currentPidSetpoint, float horizonLevelStrength)
{
const float levelAngleLimit = pidProfile->levelAngleLimit;
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
@ -1251,7 +1252,8 @@ void dynLpfDTermUpdate(float throttle)
}
#endif
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo) {
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo)
{
const float expof = expo / 10.0f;
const float curve = throttle * (1 - throttle) * expof + throttle;
return (dynLpfMax - dynLpfMin) * curve + dynLpfMin;

15
src/main/io/gps.c
View file

@ -298,7 +298,8 @@ static void shiftPacketLog(void)
}
}
static bool isConfiguratorConnected() {
static bool isConfiguratorConnected()
{
return (getArmingDisableFlags() & ARMING_DISABLED_MSP);
}
@ -473,7 +474,8 @@ static void ubloxSendPollMessage(uint8_t msg_id)
ubloxSendMessage((const uint8_t *) &tx_buffer, 6);
}
static void ubloxSendNAV5Message(bool airborne) {
static void ubloxSendNAV5Message(bool airborne)
{
ubx_message tx_buffer;
tx_buffer.payload.cfg_nav5.mask = 0xFFFF;
if (airborne) {
@ -511,7 +513,8 @@ static void ubloxSendNAV5Message(bool airborne) {
ubloxSendConfigMessage(&tx_buffer, MSG_CFG_NAV_SETTINGS, sizeof(ubx_cfg_nav5));
}
static void ubloxSetMessageRate(uint8_t messageClass, uint8_t messageID, uint8_t rate) {
static void ubloxSetMessageRate(uint8_t messageClass, uint8_t messageID, uint8_t rate)
{
ubx_message tx_buffer;
tx_buffer.payload.cfg_msg.msgClass = messageClass;
tx_buffer.payload.cfg_msg.msgID = messageID;
@ -519,7 +522,8 @@ static void ubloxSetMessageRate(uint8_t messageClass, uint8_t messageID, uint8_t
ubloxSendConfigMessage(&tx_buffer, MSG_CFG_MSG, sizeof(ubx_cfg_msg));
}
static void ubloxSetNavRate(uint16_t measRate, uint16_t navRate, uint16_t timeRef) {
static void ubloxSetNavRate(uint16_t measRate, uint16_t navRate, uint16_t timeRef)
{
ubx_message tx_buffer;
tx_buffer.payload.cfg_rate.measRate = measRate;
tx_buffer.payload.cfg_rate.navRate = navRate;
@ -527,7 +531,8 @@ static void ubloxSetNavRate(uint16_t measRate, uint16_t navRate, uint16_t timeRe
ubloxSendConfigMessage(&tx_buffer, MSG_CFG_RATE, sizeof(ubx_cfg_rate));
}
static void ubloxSetSbas() {
static void ubloxSetSbas()
{
ubx_message tx_buffer;
//NOTE: default ublox config for sbas mode is: UBLOX_MODE_ENABLED, test is disabled

3
src/main/io/ledstrip.c
View file

@ -1047,7 +1047,8 @@ void updateRequiredOverlay(void)
disabledTimerMask |= !isOverlayTypeUsed(LED_OVERLAY_INDICATOR) << timIndicator;
}
static void applyStatusProfile(timeUs_t now) {
static void applyStatusProfile(timeUs_t now)
{
// apply all layers; triggered timed functions has to update timers
// test all led timers, setting corresponding bits

3
src/main/io/serial.c
View file

@ -205,7 +205,8 @@ serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identi
return NULL;
}
serialPortUsage_t *findSerialPortUsageByPort(serialPort_t *serialPort) {
serialPortUsage_t *findSerialPortUsageByPort(serialPort_t *serialPort)
{
uint8_t index;
for (index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortUsage_t *candidate = &serialPortUsageList[index];

3
src/main/io/serial_4way.c
View file

@ -314,7 +314,8 @@ void esc4wayRelease(void)
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE. */
uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data) {
uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data)
{
int i;
crc = crc ^ ((uint16_t)data << 8);

9
src/main/io/spektrum_rssi.c
View file

@ -50,7 +50,8 @@ static uint16_t spek_fade_last_sec_count = 0; // Stores the fade count at the la
#endif
// Linear mapping and interpolation function
int32_t map(int32_t x, int32_t in_min, int32_t in_max, int32_t out_min, int32_t out_max) {
int32_t map(int32_t x, int32_t in_min, int32_t in_max, int32_t out_min, int32_t out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
@ -90,7 +91,8 @@ static const dbm_table_t dbmTable[] = {
{SPEKTRUM_RSSI_MIN, 0}};
// Convert dBm to Range %
static int8_t dBm2range (int8_t dBm) {
static int8_t dBm2range (int8_t dBm)
{
int8_t retval = dbmTable[0].reportAs;
dBm = constrain(dBm, SPEKTRUM_RSSI_MIN, SPEKTRUM_RSSI_MAX);
@ -107,7 +109,8 @@ static int8_t dBm2range (int8_t dBm) {
}
#endif
void spektrumHandleRSSI(volatile uint8_t spekFrame[]) {
void spektrumHandleRSSI(volatile uint8_t spekFrame[])
{
#ifdef USE_SPEKTRUM_REAL_RSSI
static int8_t spek_last_rssi = SPEKTRUM_RSSI_MAX;
static uint8_t spek_fade_count = 0;

3
src/main/io/statusindicator.c
View file

@ -38,7 +38,8 @@ typedef enum {
static warningLedState_e warningLedState = WARNING_LED_OFF;
void warningLedResetTimer(void) {
void warningLedResetTimer(void)
{
uint32_t now = millis();
warningLedTimer = now + 500000;
}

3
src/main/io/transponder_ir.c
View file

@ -136,7 +136,8 @@ void transponderUpdateData(void)
transponderIrUpdateData(transponderConfig()->data);
}
void transponderTransmitOnce(void) {
void transponderTransmitOnce(void)
{
if (!transponderInitialised) {
return;

3
src/main/msp/msp_serial.c
View file

@ -106,7 +106,8 @@ mspDescriptor_t getMspSerialPortDescriptor(const uint8_t portIdentifier)
}
#if defined(USE_TELEMETRY)
void mspSerialReleaseSharedTelemetryPorts(void) {
void mspSerialReleaseSharedTelemetryPorts(void)
{
for (uint8_t portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t *candidateMspPort = &mspPorts[portIndex];
if (candidateMspPort->sharedWithTelemetry) {

3
src/main/osd/osd_elements.c
View file

@ -1900,7 +1900,8 @@ void osdElementsInit(bool backgroundLayerFlag)
pt1FilterInit(&batteryEfficiencyFilt, pt1FilterGain(EFFICIENCY_CUTOFF_HZ, 1.0f / osdConfig()->framerate_hz));
}
void osdSyncBlink() {
void osdSyncBlink()
{
static int blinkCount = 0;
// If the OSD blink is due a transition, do so

3
src/main/rx/a7105_flysky.c
View file

@ -209,7 +209,8 @@ static void checkRSSI(void)
setRssiDirect(tmp, RSSI_SOURCE_RX_PROTOCOL);
}
static bool isValidPacket(const uint8_t *packet) {
static bool isValidPacket(const uint8_t *packet)
{
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
return (rcPacket->rxId == rxId && rcPacket->txId == txId);
}

3
src/main/rx/cc2500_frsky_d.c
View file

@ -150,7 +150,8 @@ static void buildTelemetryFrame(uint8_t *packet)
#define FRSKY_D_CHANNEL_SCALING (2.0f / 3)
static void decodeChannelPair(uint16_t *channels, const uint8_t *packet, const uint8_t highNibbleOffset) {
static void decodeChannelPair(uint16_t *channels, const uint8_t *packet, const uint8_t highNibbleOffset)
{
channels[0] = FRSKY_D_CHANNEL_SCALING * (uint16_t)((packet[highNibbleOffset] & 0xf) << 8 | packet[0]);
channels[1] = FRSKY_D_CHANNEL_SCALING * (uint16_t)((packet[highNibbleOffset] & 0xf0) << 4 | packet[1]);
}

3
src/main/rx/cc2500_frsky_shared.c
View file

@ -154,7 +154,8 @@ const cc2500RegisterConfigElement_t cc2500FrskyXLbtV2Config[] =
{ CC2500_08_PKTCTRL0, 0x05 },
};
static void initialise() {
static void initialise()
{
rxSpiStartupSpeed();
cc2500Reset();

9
src/main/rx/cc2500_frsky_x.c
View file

@ -134,14 +134,16 @@ static uint8_t remoteToProcessIndex = 0;
static uint8_t packetLength;
static uint16_t telemetryDelayUs;
static uint16_t crcTable(uint8_t val) {
static uint16_t crcTable(uint8_t val)
{
uint16_t word;
word = (*(&crcTable_Short[val & 0x0f]));
val /= 16;
return word ^ (0x1081 * val);
}
static uint16_t calculateCrc(const uint8_t *data, uint8_t len) {
static uint16_t calculateCrc(const uint8_t *data, uint8_t len)
{
uint16_t crc = 0;
for (unsigned i = 0; i < len; i++) {
crc = (crc << 8) ^ crcTable((uint8_t)(crc >> 8) ^ *data++);
@ -244,7 +246,8 @@ static bool frSkyXReadyToSend(void)
}
#if defined(USE_TELEMETRY_SMARTPORT)
static void frSkyXTelemetrySendByte(uint8_t c) {
static void frSkyXTelemetrySendByte(uint8_t c)
{
if (c == FSSP_DLE || c == FSSP_START_STOP) {
telemetryOutBuffer[telemetryOutWriter] = FSSP_DLE;
telemetryOutWriter = (telemetryOutWriter + 1) % TELEMETRY_OUT_BUFFER_SIZE;

3
src/main/rx/crsf.c
View file

@ -305,7 +305,8 @@ static void handleCrsfLinkStatisticsTxFrame(const crsfLinkStatisticsTx_t* statsP
#endif
#if defined(USE_CRSF_LINK_STATISTICS)
static void crsfCheckRssi(uint32_t currentTimeUs) {
static void crsfCheckRssi(uint32_t currentTimeUs)
{
if (cmpTimeUs(currentTimeUs, lastLinkStatisticsFrameUs) > CRSF_LINK_STATUS_UPDATE_TIMEOUT_US) {
if (rssiSource == RSSI_SOURCE_RX_PROTOCOL_CRSF) {

3
src/main/rx/expresslrs_telemetry.c
View file

@ -205,7 +205,8 @@ static volatile bool mspConfirm;
STATIC_UNIT_TESTED volatile bool mspReplyPending;
STATIC_UNIT_TESTED volatile bool deviceInfoReplyPending;
void mspReceiverResetState(void) {
void mspReceiverResetState(void)
{
mspCurrentOffset = 0;
mspCurrentPackage = 1;
mspConfirm = false;

3
src/main/rx/fport.c
View file

@ -150,7 +150,8 @@ static serialPort_t *fportPort;
static bool telemetryEnabled = false;
#endif
static void reportFrameError(uint8_t errorReason) {
static void reportFrameError(uint8_t errorReason)
{
static volatile uint16_t frameErrors = 0;
frameErrors++;

6
src/main/rx/ibus.c
View file

@ -146,7 +146,8 @@ static bool isChecksumOkIa6(void)
}
static bool checksumIsOk(void) {
static bool checksumIsOk(void)
{
if (ibusModel == IBUS_MODEL_IA6 ) {
return isChecksumOkIa6();
} else {
@ -155,7 +156,8 @@ static bool checksumIsOk(void) {
}
static void updateChannelData(void) {
static void updateChannelData(void)
{
uint8_t i;
uint8_t offset;
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_SLOTS; i++, offset += 2) {

3
src/main/rx/rx.c
View file

@ -144,7 +144,8 @@ void pgResetFn_rxFailsafeChannelConfigs(rxFailsafeChannelConfig_t *rxFailsafeCha
}
}
void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig) {
void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig)
{
// set default calibration to full range and 1:1 mapping
for (int i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
rxChannelRangeConfig->min = PWM_RANGE_MIN;

3
src/main/rx/srxl2.c
View file

@ -167,7 +167,8 @@ bool srxl2ProcessHandshake(const Srxl2Header* header)
return true;
}
void srxl2ProcessChannelData(const Srxl2ChannelDataHeader* channelData, rxRuntimeState_t *rxRuntimeState) {
void srxl2ProcessChannelData(const Srxl2ChannelDataHeader* channelData, rxRuntimeState_t *rxRuntimeState)
{
globalResult = RX_FRAME_COMPLETE;
if (channelData->rssi >= 0) {

4
src/main/sensors/barometer.c
View file

@ -332,7 +332,9 @@ typedef enum {
BARO_STATE_COUNT
} barometerState_e;
bool isBaroReady(void) {
bool isBaroReady(void)
{
return baroReady;
}

3
src/main/sensors/battery.c
View file

@ -548,7 +548,8 @@ bool isAmperageConfigured(void)
return batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
}
int32_t getAmperage(void) {
int32_t getAmperage(void)
{
return currentMeter.amperage;
}

3
src/main/sensors/gyro.c
View file

@ -593,7 +593,8 @@ uint16_t gyroAbsRateDps(int axis)
#ifdef USE_DYN_LPF
float dynThrottle(float throttle) {
float dynThrottle(float throttle)
{
return throttle * (1 - (throttle * throttle) / 3.0f) * 1.5f;
}

3
src/main/sensors/gyro_init.c
View file

@ -274,7 +274,8 @@ void gyroInitFilters(void)
}
#if defined(USE_GYRO_SLEW_LIMITER)
void gyroInitSlewLimiter(gyroSensor_t *gyroSensor) {
void gyroInitSlewLimiter(gyroSensor_t *gyroSensor)
{
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroSensor->gyroDev.gyroADCRawPrevious[axis] = 0;

9
src/main/sensors/rangefinder.c
View file

@ -189,7 +189,8 @@ static int32_t applyMedianFilter(int32_t newReading)
return medianFilterReady ? quickMedianFilter5(filterSamples) : newReading;
}
static int16_t computePseudoSnr(int32_t newReading) {
static int16_t computePseudoSnr(int32_t newReading)
{
#define SNR_SAMPLES 5
static int16_t snrSamples[SNR_SAMPLES];
static uint8_t snrSampleIndex = 0;
@ -229,7 +230,8 @@ void rangefinderUpdate(void)
}
}
bool isSurfaceAltitudeValid() {
bool isSurfaceAltitudeValid()
{
/*
* Preconditions: raw and calculated altidude > 0
@ -336,7 +338,8 @@ int32_t rangefinderGetLatestAltitude(void)
return rangefinder.calculatedAltitude;
}
int32_t rangefinderGetLatestRawAltitude(void) {
int32_t rangefinderGetLatestRawAltitude(void)
{
return rangefinder.rawAltitude;
}

3
src/main/startup/system_stm32f7xx.c
View file

@ -265,7 +265,8 @@ static const pllConfig_t overclockLevels[] = {
{ 480, RCC_PLLP_DIV2, 10 }, // 240 MHz
};
void SystemInitOC(void) {
void SystemInitOC(void)
{
uint32_t currentOverclockLevel = persistentObjectRead(PERSISTENT_OBJECT_OVERCLOCK_LEVEL);
if (currentOverclockLevel >= ARRAYLEN(overclockLevels)) {

96
src/main/target/SITL/target.c
View file

@ -72,17 +72,20 @@ static pthread_mutex_t mainLoopLock;
int timeval_sub(struct timespec *result, struct timespec *x, struct timespec *y);
int lockMainPID(void) {
int lockMainPID(void)
{
return pthread_mutex_trylock(&mainLoopLock);
}
#define RAD2DEG (180.0 / M_PI)
#define ACC_SCALE (256 / 9.80665)
#define GYRO_SCALE (16.4)
void sendMotorUpdate() {
void sendMotorUpdate()
{
udpSend(&pwmLink, &pwmPkt, sizeof(servo_packet));
}
void updateState(const fdm_packet* pkt) {
void updateState(const fdm_packet* pkt)
{
static double last_timestamp = 0; // in seconds
static uint64_t last_realtime = 0; // in uS
static struct timespec last_ts; // last packet
@ -174,7 +177,8 @@ void updateState(const fdm_packet* pkt) {
#endif
}
static void* udpThread(void* data) {
static void* udpThread(void* data)
{
UNUSED(data);
int n = 0;
@ -190,7 +194,8 @@ static void* udpThread(void* data) {
return NULL;
}
static void* tcpThread(void* data) {
static void* tcpThread(void* data)
{
UNUSED(data);
dyad_init();
@ -207,7 +212,8 @@ static void* tcpThread(void* data) {
}
// system
void systemInit(void) {
void systemInit(void)
{
int ret;
clock_gettime(CLOCK_MONOTONIC, &start_time);
@ -245,14 +251,16 @@ void systemInit(void) {
}
void systemReset(void){
void systemReset(void)
{
printf("[system]Reset!\n");
workerRunning = false;
pthread_join(tcpWorker, NULL);
pthread_join(udpWorker, NULL);
exit(0);
}
void systemResetToBootloader(bootloaderRequestType_e requestType) {
void systemResetToBootloader(bootloaderRequestType_e requestType)
{
UNUSED(requestType);
printf("[system]ResetToBootloader!\n");
@ -262,14 +270,17 @@ void systemResetToBootloader(bootloaderRequestType_e requestType) {
exit(0);
}
void timerInit(void) {
void timerInit(void)
{
printf("[timer]Init...\n");
}
void timerStart(void) {
void timerStart(void)
{
}
void failureMode(failureMode_e mode) {
void failureMode(failureMode_e mode)
{
printf("[failureMode]!!! %d\n", mode);
while (1);
}
@ -282,25 +293,29 @@ void indicateFailure(failureMode_e mode, int repeatCount)
// Time part
// Thanks ArduPilot
uint64_t nanos64_real() {
uint64_t nanos64_real()
{
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return (ts.tv_sec*1e9 + ts.tv_nsec) - (start_time.tv_sec*1e9 + start_time.tv_nsec);
}
uint64_t micros64_real() {
uint64_t micros64_real()
{
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) - (start_time.tv_sec + (start_time.tv_nsec*1.0e-9)));
}
uint64_t millis64_real() {
uint64_t millis64_real()
{
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) - (start_time.tv_sec + (start_time.tv_nsec*1.0e-9)));
}
uint64_t micros64() {
uint64_t micros64()
{
static uint64_t last = 0;
static uint64_t out = 0;
uint64_t now = nanos64_real();
@ -312,7 +327,8 @@ uint64_t micros64() {
// return micros64_real();
}
uint64_t millis64() {
uint64_t millis64()
{
static uint64_t last = 0;
static uint64_t out = 0;
uint64_t now = nanos64_real();
@ -324,11 +340,13 @@ uint64_t millis64() {
// return millis64_real();
}
uint32_t micros(void) {
uint32_t micros(void)
{
return micros64() & 0xFFFFFFFF;
}
uint32_t millis(void) {
uint32_t millis(void)
{
return millis64() & 0xFFFFFFFF;
}
@ -351,22 +369,26 @@ uint32_t getCycleCounter(void)
return (uint32_t) (micros64() & 0xFFFFFFFF);
}
void microsleep(uint32_t usec) {
void microsleep(uint32_t usec)
{
struct timespec ts;
ts.tv_sec = 0;
ts.tv_nsec = usec*1000UL;
while (nanosleep(&ts, &ts) == -1 && errno == EINTR) ;
}
void delayMicroseconds(uint32_t us) {
void delayMicroseconds(uint32_t us)
{
microsleep(us / simRate);
}
void delayMicroseconds_real(uint32_t us) {
void delayMicroseconds_real(uint32_t us)
{
microsleep(us);
}
void delay(uint32_t ms) {
void delay(uint32_t ms)
{
uint64_t start = millis64();
while ((millis64() - start) < ms) {
@ -378,7 +400,8 @@ void delay(uint32_t ms) {
// Return 1 if the difference is negative, otherwise 0.
// result = x - y
// from: http://www.gnu.org/software/libc/manual/html_node/Elapsed-Time.html
int timeval_sub(struct timespec *result, struct timespec *x, struct timespec *y) {
int timeval_sub(struct timespec *result, struct timespec *x, struct timespec *y)
{
unsigned int s_carry = 0;
unsigned int ns_carry = 0;
// Perform the carry for the later subtraction by updating y.
@ -406,7 +429,8 @@ static int16_t motorsPwm[MAX_SUPPORTED_MOTORS];
static int16_t servosPwm[MAX_SUPPORTED_SERVOS];
static int16_t idlePulse;
void servoDevInit(const servoDevConfig_t *servoConfig) {
void servoDevInit(const servoDevConfig_t *servoConfig)
{
UNUSED(servoConfig);
for (uint8_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
servos[servoIndex].enabled = true;
@ -415,7 +439,8 @@ void servoDevInit(const servoDevConfig_t *servoConfig) {
static motorDevice_t motorPwmDevice; // Forward
pwmOutputPort_t *pwmGetMotors(void) {
pwmOutputPort_t *pwmGetMotors(void)
{
return motors;
}
@ -456,7 +481,8 @@ static void pwmShutdownPulsesForAllMotors(void)
motorPwmDevice.enabled = false;
}
bool pwmIsMotorEnabled(uint8_t index) {
bool pwmIsMotorEnabled(uint8_t index)
{
return motors[index].enabled;
}
@ -481,7 +507,8 @@ static void pwmCompleteMotorUpdate(void)
// printf("[pwm]%u:%u,%u,%u,%u\n", idlePulse, motorsPwm[0], motorsPwm[1], motorsPwm[2], motorsPwm[3]);
}
void pwmWriteServo(uint8_t index, float value) {
void pwmWriteServo(uint8_t index, float value)
{
servosPwm[index] = value;
}
@ -523,7 +550,8 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t _id
}
// ADC part
uint16_t adcGetChannel(uint8_t channel) {
uint16_t adcGetChannel(uint8_t channel)
{
UNUSED(channel);
return 0;
}
@ -535,7 +563,8 @@ char _Min_Stack_Size;
// fake EEPROM
static FILE *eepromFd = NULL;
void FLASH_Unlock(void) {
void FLASH_Unlock(void)
{
if (eepromFd != NULL) {
fprintf(stderr, "[FLASH_Unlock] eepromFd != NULL\n");
return;
@ -568,7 +597,8 @@ void FLASH_Unlock(void) {
}
}
void FLASH_Lock(void) {
void FLASH_Lock(void)
{
// flush & close
if (eepromFd != NULL) {
fseek(eepromFd, 0, SEEK_SET);
@ -581,13 +611,15 @@ void FLASH_Lock(void) {
}
}
FLASH_Status FLASH_ErasePage(uintptr_t Page_Address) {
FLASH_Status FLASH_ErasePage(uintptr_t Page_Address)
{
UNUSED(Page_Address);
// printf("[FLASH_ErasePage]%x\n", Page_Address);
return FLASH_COMPLETE;
}
FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t value) {
FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t value)
{
if ((addr >= (uintptr_t)eepromData) && (addr < (uintptr_t)ARRAYEND(eepromData))) {
*((uint32_t*)addr) = value;
printf("[FLASH_ProgramWord]%p = %08x\n", (void*)addr, *((uint32_t*)addr));

9
src/main/target/SITL/udplink.c
View file

@ -13,7 +13,8 @@
#include "udplink.h"
int udpInit(udpLink_t* link, const char* addr, int port, bool isServer) {
int udpInit(udpLink_t* link, const char* addr, int port, bool isServer)
{
int one = 1;
if ((link->fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
@ -43,11 +44,13 @@ int udpInit(udpLink_t* link, const char* addr, int port, bool isServer) {
return 0;
}
int udpSend(udpLink_t* link, const void* data, size_t size) {
int udpSend(udpLink_t* link, const void* data, size_t size)
{
return sendto(link->fd, data, size, 0, (struct sockaddr *)&link->si, sizeof(link->si));
}
int udpRecv(udpLink_t* link, void* data, size_t size, uint32_t timeout_ms) {
int udpRecv(udpLink_t* link, void* data, size_t size, uint32_t timeout_ms)
{
fd_set fds;
struct timeval tv;

3
src/main/target/YUPIF4/hardware_revision.c
View file

@ -72,5 +72,6 @@ void detectHardwareRevision(void)
}
}
void updateHardwareRevision(void) {
void updateHardwareRevision(void)
{
}

6
src/main/telemetry/hott.c
View file

@ -453,7 +453,8 @@ static inline void hottSendEAMResponse(void)
hottSendResponse((uint8_t *)&hottEAMMessage, sizeof(hottEAMMessage));
}
static void hottPrepareMessages(void) {
static void hottPrepareMessages(void)
{
hottPrepareEAMResponse(&hottEAMMessage);
#ifdef USE_GPS
hottPrepareGPSResponse(&hottGPSMessage);
@ -630,7 +631,8 @@ static void hottCheckSerialData(uint32_t currentMicros)
#endif
}
static void hottSendTelemetryData(void) {
static void hottSendTelemetryData(void)
{
if (!hottIsSending) {
hottConfigurePortForTX();

3
src/main/telemetry/ibus_shared.c
View file

@ -139,7 +139,8 @@ static uint8_t getSensorID(ibusAddress_t address)
}
#if defined(USE_TELEMETRY_IBUS_EXTENDED)
static const uint8_t* getSensorStruct(uint8_t sensorType, uint8_t* itemCount){
static const uint8_t* getSensorStruct(uint8_t sensorType, uint8_t* itemCount)
{
const uint8_t* structure = 0;
if (sensorType == IBUS_SENSOR_TYPE_GPS_FULL) {
structure = FULL_GPS_IDS;

3
src/main/telemetry/smartport.c
View file

@ -507,7 +507,8 @@ void checkSmartPortTelemetryState(void)
}
#if defined(USE_MSP_OVER_TELEMETRY)
static void smartPortSendMspResponse(uint8_t *data, const uint8_t dataSize) {
static void smartPortSendMspResponse(uint8_t *data, const uint8_t dataSize)
{
smartPortPayload_t payload;
payload.frameId = FSSP_MSPS_FRAME;
memcpy(&payload.valueId, data, MIN(dataSize,SMARTPORT_MSP_PAYLOAD_SIZE));

6
src/main/vcpf4/usb_bsp.c
View file

@ -30,11 +30,13 @@
#include "../drivers/nvic.h"
#include "../drivers/io.h"
void USB_OTG_BSP_ConfigVBUS(USB_OTG_CORE_HANDLE *pdev) {
void USB_OTG_BSP_ConfigVBUS(USB_OTG_CORE_HANDLE *pdev)
{
(void)pdev;
}
void USB_OTG_BSP_DriveVBUS(USB_OTG_CORE_HANDLE *pdev,uint8_t state) {
void USB_OTG_BSP_DriveVBUS(USB_OTG_CORE_HANDLE *pdev,uint8_t state)
{
(void)pdev;
(void)state;
}

21
src/test/unit/baro_bmp280_unittest.cc
View file

@ -154,26 +154,33 @@ bool busWriteRegister(const extDevice_t*, uint8_t, uint8_t) {return true;}
bool busWriteRegisterStart(const extDevice_t*, uint8_t, uint8_t) {return true;}
void busDeviceRegister(const extDevice_t*) {}
uint16_t spiCalculateDivider() {
uint16_t spiCalculateDivider()
{
return 2;
}
void spiSetClkDivisor() {
void spiSetClkDivisor()
{
}
void spiPreinitByIO() {
void spiPreinitByIO()
{
}
void IOConfigGPIO() {
void IOConfigGPIO()
{
}
void IOHi() {
void IOHi()
{
}
void IOInit() {
void IOInit()
{
}
void IORelease() {
void IORelease()
{
}

36
src/test/unit/baro_bmp388_unittest.cc
View file

@ -151,39 +151,49 @@ bool busWriteRegister(const extDevice_t*, uint8_t, uint8_t) {return true;}
bool busWriteRegisterStart(const extDevice_t*, uint8_t, uint8_t) {return true;}
void busDeviceRegister(const extDevice_t*) {}
uint16_t spiCalculateDivider() {
uint16_t spiCalculateDivider()
{
return 2;
}
void spiSetClkDivisor() {
void spiSetClkDivisor()
{
}
void spiPreinitByIO(IO_t) {
void spiPreinitByIO(IO_t)
{
}
void IOConfigGPIO() {
void IOConfigGPIO()
{
}
void IOHi() {
void IOHi()
{
}
IO_t IOGetByTag(ioTag_t) {
IO_t IOGetByTag(ioTag_t)
{
return IO_NONE;
}
void IOInit() {
void IOInit()
{
}
void EXTIHandlerInit(extiCallbackRec_t *, extiHandlerCallback *) {
void EXTIHandlerInit(extiCallbackRec_t *, extiHandlerCallback *)
{
}
void EXTIConfig(IO_t, extiCallbackRec_t *, int, ioConfig_t, extiTrigger_t) {
void EXTIConfig(IO_t, extiCallbackRec_t *, int, ioConfig_t, extiTrigger_t)
{
}
void EXTIEnable(IO_t) {
}
void EXTIDisable(IO_t) {
}
void EXTIEnable(IO_t)
{}
void EXTIDisable(IO_t)
{}
} // extern "C"

21
src/test/unit/baro_ms5611_unittest.cc
View file

@ -153,26 +153,33 @@ bool busRawWriteRegister(const extDevice_t*, uint8_t, uint8_t) {return true;}
bool busRawWriteRegisterStart(const extDevice_t*, uint8_t, uint8_t) {return true;}
void busDeviceRegister(const extDevice_t*) {}
uint16_t spiCalculateDivider() {
uint16_t spiCalculateDivider()
{
return 2;
}
void spiSetClkDivisor() {
void spiSetClkDivisor()
{
}
void spiPreinitByIO() {
void spiPreinitByIO()
{
}
void IOConfigGPIO() {
void IOConfigGPIO()
{
}
void IOHi() {
void IOHi()
{
}
void IOInit() {
void IOInit()
{
}
void IORelease() {
void IORelease()
{
}
}

21
src/test/unit/cli_unittest.cc
View file

@ -208,27 +208,33 @@ int32_t taskGuardCycles;
uint32_t micros(void) {return 0;}
int32_t getAmperage(void) {
int32_t getAmperage(void)
{
return 100;
}
uint16_t getBatteryVoltage(void) {
uint16_t getBatteryVoltage(void)
{
return 42;
}
batteryState_e getBatteryState(void) {
batteryState_e getBatteryState(void)
{
return BATTERY_OK;
}
uint8_t calculateBatteryPercentageRemaining(void) {
uint8_t calculateBatteryPercentageRemaining(void)
{
return 67;
}
uint8_t getMotorCount() {
uint8_t getMotorCount()
{
return 4;
}
size_t getEEPROMStorageSize() {
size_t getEEPROMStorageSize()
{
return 0;
}
@ -241,7 +247,8 @@ const box_t *findBoxByBoxId(boxId_e) { return &boxes[0]; }
int8_t unitTestDataArray[3];
void pgResetFn_unitTestData(int8_t *) {}
void pgResetFn_unitTestData(int8_t *)
{}
uint32_t getBeeperOffMask(void) { return 0; }
uint32_t getPreferredBeeperOffMask(void) { return 0; }

15
src/test/unit/flight_failsafe_unittest.cc
View file

@ -63,7 +63,8 @@ static int callCounts[CALL_COUNT_ITEM_COUNT];
#define CALL_COUNTER(item) (callCounts[item])
void resetCallCounters(void) {
void resetCallCounters(void)
{
memset(&callCounts, 0, sizeof(callCounts));
}
@ -739,15 +740,18 @@ throttleStatus_e calculateThrottleStatus()
void delay(uint32_t) {}
bool featureIsEnabled(uint32_t mask) {
bool featureIsEnabled(uint32_t mask)
{
return (mask & testFeatureMask);
}
void disarm(flightLogDisarmReason_e) {
void disarm(flightLogDisarmReason_e)
{
callCounts[COUNTER_MW_DISARM]++;
}
void beeper(beeperMode_e mode) {
void beeper(beeperMode_e mode)
{
UNUSED(mode);
}
@ -761,7 +765,8 @@ bool isUsingSticksForArming(void)
return isUsingSticksToArm;
}
bool areSticksActive(uint8_t stickPercentLimit) {
bool areSticksActive(uint8_t stickPercentLimit)
{
UNUSED(stickPercentLimit);
return false;
}

30
src/test/unit/ledstrip_unittest.cc
View file

@ -303,42 +303,50 @@ float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
boxBitmask_t rcModeActivationMask;
gpsSolutionData_t gpsSol;
batteryState_e getBatteryState(void) {
batteryState_e getBatteryState(void)
{
return BATTERY_OK;
}
void ws2811LedStripInit(ioTag_t ioTag) {
void ws2811LedStripInit(ioTag_t ioTag)
{
UNUSED(ioTag);
}
void ws2811UpdateStrip(ledStripFormatRGB_e, uint8_t) {}
void setLedValue(uint16_t index, const uint8_t value) {
void setLedValue(uint16_t index, const uint8_t value)
{
UNUSED(index);
UNUSED(value);
}
void setLedHsv(uint16_t index, const hsvColor_t *color) {
void setLedHsv(uint16_t index, const hsvColor_t *color)
{
UNUSED(index);
UNUSED(color);
}
void getLedHsv(uint16_t index, hsvColor_t *color) {
void getLedHsv(uint16_t index, hsvColor_t *color)
{
UNUSED(index);
UNUSED(color);
}
void scaleLedValue(uint16_t index, const uint8_t scalePercent) {
void scaleLedValue(uint16_t index, const uint8_t scalePercent)
{
UNUSED(index);
UNUSED(scalePercent);
}
void setStripColor(const hsvColor_t *color) {
void setStripColor(const hsvColor_t *color)
{
UNUSED(color);
}
void setStripColors(const hsvColor_t *colors) {
void setStripColors(const hsvColor_t *colors)
{
UNUSED(colors);
}
@ -355,14 +363,16 @@ uint32_t micros(void) { return 0; }
uint32_t millis(void) { return 0; }
bool shouldSoundBatteryAlarm(void) { return false; }
bool featureIsEnabled(uint32_t mask) {
bool featureIsEnabled(uint32_t mask)
{
UNUSED(mask);
return false;
}
void tfp_sprintf(char *, char*, ...) { }
int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax) {
int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax)
{
UNUSED(x);
UNUSED(srcMin);
UNUSED(srcMax);

3
src/test/unit/link_quality_unittest.cc
View file

@ -163,7 +163,8 @@ void doTestArm(bool testEmpty = true)
/*
* Auxiliary function. Test is there're stats that must be shown
*/
bool isSomeStatEnabled(void) {
bool isSomeStatEnabled(void)
{
return (osdConfigMutable()->enabled_stats != 0);
}

3
src/test/unit/osd_unittest.cc
View file

@ -190,7 +190,8 @@ void doTestArm(bool testEmpty = true)
/*
* Auxiliary function. Test is there're stats that must be shown
*/
bool isSomeStatEnabled(void) {
bool isSomeStatEnabled(void)
{
return (osdConfigMutable()->enabled_stats != 0);
}

51
src/test/unit/pid_unittest.cc
View file

@ -118,7 +118,8 @@ pidProfile_t *pidProfile;
int loopIter = 0;
// Always use same defaults for testing in future releases even when defaults change
void setDefaultTestSettings(void) {
void setDefaultTestSettings(void)
{
pgResetAll();
pidProfile = pidProfilesMutable(1);
pidProfile->pid[PID_ROLL] = { 40, 40, 30, 65 };
@ -170,11 +171,13 @@ void setDefaultTestSettings(void) {
gyro.targetLooptime = 8000;
}
timeUs_t currentTestTime(void) {
timeUs_t currentTestTime(void)
{
return targetPidLooptime * loopIter++;
}
void resetTest(void) {
void resetTest(void)
{
loopIter = 0;
pidRuntime.tpaFactor = 1.0f;
simulatedMotorMixRange = 0.0f;
@ -212,14 +215,16 @@ void resetTest(void) {
}
}
void setStickPosition(int axis, float stickRatio) {
void setStickPosition(int axis, float stickRatio)
{
simulatedPrevSetpointRate[axis] = simulatedSetpointRate[axis];
simulatedSetpointRate[axis] = 1998.0f * stickRatio;
simulatedRcDeflection[axis] = stickRatio;
}
// All calculations will have 10% tolerance
float calculateTolerance(float input) {
float calculateTolerance(float input)
{
return fabsf(input * 0.1f);
}
@ -235,7 +240,8 @@ TEST(pidControllerTest, testInitialisation)
}
}
TEST(pidControllerTest, testStabilisationDisabled) {
TEST(pidControllerTest, testStabilisationDisabled)
{
ENABLE_ARMING_FLAG(ARMED);
// Run few loops to make sure there is no error building up when stabilisation disabled
@ -255,7 +261,8 @@ TEST(pidControllerTest, testStabilisationDisabled) {
}
}
TEST(pidControllerTest, testPidLoop) {
TEST(pidControllerTest, testPidLoop)
{
// Make sure to start with fresh values
resetTest();
ENABLE_ARMING_FLAG(ARMED);
@ -362,7 +369,8 @@ TEST(pidControllerTest, testPidLoop) {
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
}
TEST(pidControllerTest, testPidLevel) {
TEST(pidControllerTest, testPidLevel)
{
// Make sure to start with fresh values
resetTest();
ENABLE_ARMING_FLAG(ARMED);
@ -422,7 +430,8 @@ TEST(pidControllerTest, testPidLevel) {
}
TEST(pidControllerTest, testPidHorizon) {
TEST(pidControllerTest, testPidHorizon)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
@ -445,7 +454,8 @@ TEST(pidControllerTest, testPidHorizon) {
EXPECT_NEAR(0.811f, calcHorizonLevelStrength(), calculateTolerance(0.82));
}
TEST(pidControllerTest, testMixerSaturation) {
TEST(pidControllerTest, testMixerSaturation)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
@ -491,7 +501,8 @@ TEST(pidControllerTest, testMixerSaturation) {
}
// TODO - Add more scenarios
TEST(pidControllerTest, testCrashRecoveryMode) {
TEST(pidControllerTest, testCrashRecoveryMode)
{
resetTest();
pidProfile->crash_recovery = PID_CRASH_RECOVERY_ON;
pidInit(pidProfile);
@ -516,7 +527,8 @@ TEST(pidControllerTest, testCrashRecoveryMode) {
// Add additional verifications
}
TEST(pidControllerTest, testFeedForward) {
TEST(pidControllerTest, testFeedForward)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
@ -561,7 +573,8 @@ TEST(pidControllerTest, testFeedForward) {
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
}
TEST(pidControllerTest, testItermRelax) {
TEST(pidControllerTest, testItermRelax)
{
resetTest();
pidProfile->iterm_relax = ITERM_RELAX_RP;
ENABLE_ARMING_FLAG(ARMED);
@ -635,7 +648,8 @@ TEST(pidControllerTest, testItermRelax) {
}
// TODO - Add more tests
TEST(pidControllerTest, testAbsoluteControl) {
TEST(pidControllerTest, testAbsoluteControl)
{
resetTest();
pidProfile->abs_control_gain = 10;
pidInit(pidProfile);
@ -663,11 +677,13 @@ TEST(pidControllerTest, testAbsoluteControl) {
EXPECT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
}
TEST(pidControllerTest, testDtermFiltering) {
TEST(pidControllerTest, testDtermFiltering)
{
// TODO
}
TEST(pidControllerTest, testItermRotationHandling) {
TEST(pidControllerTest, testItermRotationHandling)
{
resetTest();
pidInit(pidProfile);
@ -709,7 +725,8 @@ TEST(pidControllerTest, testItermRotationHandling) {
EXPECT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
}
TEST(pidControllerTest, testLaunchControl) {
TEST(pidControllerTest, testLaunchControl)
{
// The launchControlGain is indirectly tested since when launch control is active the
// the gain overrides the PID settings. If the logic to use launchControlGain wasn't
// working then any I calculations would be incorrect.

30
src/test/unit/rc_controls_unittest.cc
View file

@ -60,7 +60,8 @@ extern "C" {
#include "unittest_macros.h"
#include "gtest/gtest.h"
void unsetArmingDisabled(armingDisableFlags_e flag) {
void unsetArmingDisabled(armingDisableFlags_e flag)
{
UNUSED(flag);
}
@ -202,37 +203,44 @@ static int callCounts[CALL_COUNT_ITEM_COUNT];
#define CALL_COUNTER(item) (callCounts[item])
extern "C" {
void beeperConfirmationBeeps(uint8_t) {
void beeperConfirmationBeeps(uint8_t)
{
callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++;
}
void beeper(beeperMode_e mode) {
void beeper(beeperMode_e mode)
{
UNUSED(mode);
}
void changeControlRateProfile(uint8_t) {
void changeControlRateProfile(uint8_t)
{
callCounts[COUNTER_CHANGE_CONTROL_RATE_PROFILE]++;
}
}
void resetCallCounters(void) {
void resetCallCounters(void)
{
memset(&callCounts, 0, sizeof(callCounts));
}
uint32_t fixedMillis;
extern "C" {
uint32_t millis(void) {
uint32_t millis(void)
{
return fixedMillis;
}
uint32_t micros(void) {
uint32_t micros(void)
{
return fixedMillis * 1000;
}
}
void resetMillis(void) {
void resetMillis(void)
{
fixedMillis = 0;
}
@ -628,7 +636,8 @@ bool failsafeIsActive() { return false; }
bool rxIsReceivingSignal() { return true; }
bool failsafeIsReceivingRxData() { return true; }
uint8_t getCurrentControlRateProfileIndex(void) {
uint8_t getCurrentControlRateProfileIndex(void)
{
return 0;
}
void GPS_reset_home_position(void) {}
@ -648,7 +657,8 @@ PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
void resetArmingDisabled(void) {}
timeDelta_t getTaskDeltaTimeUs(taskId_e) { return 20000; }
armingDisableFlags_e getArmingDisableFlags(void) {
armingDisableFlags_e getArmingDisableFlags(void)
{
return (armingDisableFlags_e) 0;
}
bool isTryingToArm(void) { return false; }

3
src/test/unit/rx_ibus_unittest.cc
View file

@ -175,7 +175,8 @@ static bool stubTelemetryCalled = false;
static uint8_t stubTelemetryPacket[100];
static uint8_t stubTelemetryIgnoreRxChars = 0;
uint8_t respondToIbusRequest(uint8_t const * const ibusPacket) {
uint8_t respondToIbusRequest(uint8_t const * const ibusPacket)
{
uint8_t len = ibusPacket[0];
EXPECT_LT(len, sizeof(stubTelemetryPacket));
memcpy(stubTelemetryPacket, ibusPacket, len);

6
src/test/unit/rx_ranges_unittest.cc
View file

@ -199,11 +199,13 @@ bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRaw
return true;
}
bool featureIsEnabled(uint32_t) {
bool featureIsEnabled(uint32_t)
{
return false;
}
void featureDisableImmediate(uint32_t) {
void featureDisableImmediate(uint32_t)
{
}
bool rxMspFrameComplete(void)

6
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -224,13 +224,15 @@ TEST(CrossFireMSPTest, WriteResponseTest)
}
void testSendMspResponse(uint8_t *payload, const uint8_t ) {
void testSendMspResponse(uint8_t *payload, const uint8_t )
{
sbuf_t *plOut = sbufInit(&payloadOutputBuf, payloadOutput, payloadOutput + 64);
sbufWriteData(plOut, payload, *payload + 64);
sbufSwitchToReader(&payloadOutputBuf, payloadOutput);
}
TEST(CrossFireMSPTest, SendMspReply) {
TEST(CrossFireMSPTest, SendMspReply)
{
initSharedMsp();
const crsfMspFrame_t *framePtr = (const crsfMspFrame_t*)crsfPidRequest;
crsfFrame = *(const crsfFrame_t*)framePtr;

24
src/test/unit/telemetry_crsf_unittest.cc
View file

@ -342,35 +342,43 @@ portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunctio
bool airmodeIsEnabled(void) {return airMode;}
int32_t getAmperage(void) {
int32_t getAmperage(void)
{
return testAmperage;
}
uint16_t getBatteryVoltage(void) {
uint16_t getBatteryVoltage(void)
{
return testBatteryVoltage;
}
uint16_t getLegacyBatteryVoltage(void) {
uint16_t getLegacyBatteryVoltage(void)
{
return (testBatteryVoltage + 5) / 10;
}
uint16_t getBatteryAverageCellVoltage(void) {
uint16_t getBatteryAverageCellVoltage(void)
{
return 0;
}
batteryState_e getBatteryState(void) {
batteryState_e getBatteryState(void)
{
return BATTERY_OK;
}
uint8_t calculateBatteryPercentageRemaining(void) {
uint8_t calculateBatteryPercentageRemaining(void)
{
return 67;
}
int32_t getEstimatedAltitudeCm(void) {
int32_t getEstimatedAltitudeCm(void)
{
return gpsSol.llh.altCm; // function returns cm not m.
}
int32_t getMAhDrawn(void){
int32_t getMAhDrawn(void)
{
return testmAhDrawn;
}

12
src/test/unit/telemetry_hott_unittest.cc
View file

@ -184,7 +184,8 @@ baro_t baro;
int32_t getEstimatedAltitudeCm() { return 0; }
int16_t getEstimatedVario() { return 0; }
uint32_t millis(void) {
uint32_t millis(void)
{
return fixedMillis;
}
@ -256,7 +257,8 @@ bool telemetryDetermineEnabledState(portSharing_e)
return true;
}
bool telemetryIsSensorEnabled(sensor_e sensor) {
bool telemetryIsSensorEnabled(sensor_e sensor)
{
UNUSED(sensor);
return true;
}
@ -291,11 +293,13 @@ uint16_t getLegacyBatteryVoltage(void)
return (testBatteryVoltage + 5) / 10;
}
int32_t getAmperage(void) {
int32_t getAmperage(void)
{
return testAmperage;
}
int32_t getMAhDrawn(void) {
int32_t getMAhDrawn(void)
{
return testMAhDrawn;
}

9
src/test/unit/telemetry_ibus_unittest.cc
View file

@ -61,7 +61,8 @@ extern "C" {
}
static int16_t gyroTemperature;
int16_t gyroGetTemperature(void) {
int16_t gyroGetTemperature(void)
{
return gyroTemperature;
}
@ -135,7 +136,8 @@ uint16_t getBatteryVoltage(void)
return testBatteryVoltage;
}
uint8_t getBatteryCellCount(void) {
uint8_t getBatteryCellCount(void)
{
return testBatteryCellCount;
}
@ -185,7 +187,8 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing)
}
bool telemetryIsSensorEnabled(sensor_e sensor) {
bool telemetryIsSensorEnabled(sensor_e sensor)
{
UNUSED(sensor);
return true;
}

9
src/test/unit/timer_definition_unittest.cc
View file

@ -32,7 +32,8 @@ extern "C" {
extern const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT];
}
TEST(TimerDefinitionTest, Test_counterMismatch) {
TEST(TimerDefinitionTest, Test_counterMismatch)
{
for (const timerHardware_t &t : timerHardware)
EXPECT_EQ(&t - timerHardware, t.def_tim_counter)
<< "Counter mismatch in timerHardware (in target.c) at position "
@ -43,7 +44,8 @@ TEST(TimerDefinitionTest, Test_counterMismatch) {
<< " array element appears to be " << &t - timerHardware - 1 << '.';
}
TEST(TimerDefinitionTest, Test_duplicatePin) {
TEST(TimerDefinitionTest, Test_duplicatePin)
{
std::set<TestPinEnum> usedPins;
for (const timerHardware_t &t : timerHardware)
EXPECT_TRUE(usedPins.emplace(t.pin).second)
@ -56,7 +58,8 @@ TEST(TimerDefinitionTest, Test_duplicatePin) {
#if !defined(USE_TIMER_MGMT)
namespace {
std::string writeUsedTimers(const std::bitset<TEST_TIMER_SIZE> &tset) {
std::string writeUsedTimers(const std::bitset<TEST_TIMER_SIZE> &tset)
{
std::stringstream used_timers;
if (tset.any()) {
unsigned int timer{0};

6
src/test/unit/transponder_ir_unittest.cc
View file

@ -37,7 +37,8 @@ extern "C" {
STATIC_UNIT_TESTED void updateTransponderDMABufferArcitimer(transponder_t *transponder, const uint8_t* transponderData);
}
TEST(transponderTest, updateTransponderDMABufferArcitimer) {
TEST(transponderTest, updateTransponderDMABufferArcitimer)
{
//input
uint8_t data[9] = {0x1F, 0xFC, 0x8F, 0x3, 0xF0, 0x1, 0xF8, 0x1F, 0x0};
//excepted
@ -69,7 +70,8 @@ TEST(transponderTest, updateTransponderDMABufferArcitimer) {
}
}
TEST(transponderTest, updateTransponderDMABufferIlap) {
TEST(transponderTest, updateTransponderDMABufferIlap)
{
uint8_t data[9] = {0x1F, 0xFC, 0x8F, 0x3, 0xF0, 0x1, 0x0, 0x0, 0x0};
uint8_t excepted[TRANSPONDER_DMA_BUFFER_SIZE_ILAP] = {

9
src/test/unit/ws2811_unittest.cc
View file

@ -36,7 +36,8 @@ extern "C" {
void schedulerIgnoreTaskStateTime(void) {}
}
TEST(WS2812, updateDMABuffer) {
TEST(WS2812, updateDMABuffer)
{
// given
rgbColor24bpp_t color1 = { .raw = {0xFF,0xAA,0x55} };
@ -78,12 +79,14 @@ TEST(WS2812, updateDMABuffer) {
}
extern "C" {
rgbColor24bpp_t* hsvToRgb24(const hsvColor_t *c) {
rgbColor24bpp_t* hsvToRgb24(const hsvColor_t *c)
{
UNUSED(c);
return NULL;
}
bool ws2811LedStripHardwareInit(ioTag_t ioTag) {
bool ws2811LedStripHardwareInit(ioTag_t ioTag)
{
UNUSED(ioTag);
return true;