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https://github.com/betaflight/betaflight.git
synced 2025-07-26 01:35:41 +03:00
Removed trailing whitespace.
This commit is contained in:
mikeller
parent
5bf4f71a6d
commit
ab5c7a75be
5 changed files with 26 additions and 26 deletions
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@ -322,7 +322,7 @@ void tasksInit(void)
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} else if (rxRuntimeState.serialrxProvider == SERIALRX_CRSF) {
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// Reschedule telemetry to 500hz, 2ms for CRSF
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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}
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}
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}
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#endif
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@ -56,8 +56,8 @@
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// define the time window after the end of the last received packet where telemetry packets may be sent
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// NOTE: This allows the Rx to double-up on Rx packets to transmit data other than servo data, but
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// only if sent < 1ms after the servo data packet.
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#define GHST_RX_TO_TELEMETRY_MIN_US 1000
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// only if sent < 1ms after the servo data packet.
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#define GHST_RX_TO_TELEMETRY_MIN_US 1000
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#define GHST_RX_TO_TELEMETRY_MAX_US 2000
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#define GHST_PAYLOAD_OFFSET offsetof(ghstFrameDef_t, type)
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@ -82,20 +82,20 @@ static timeUs_t lastRcFrameTimeUs = 0;
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/* GHST Protocol
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* Ghost uses 420k baud single-wire, half duplex connection, connected to a FC UART 'Tx' pin
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* Each control packet is interleaved with one or more corresponding downlink packets
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*
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*
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* Uplink packet format (Control packets)
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* <Addr><Len><Type><Payload><CRC>
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*
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* Addr: u8 Destination address
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* Len u8 Length includes the packet ID, but not the CRC
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* CRC u8
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*
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*
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* Ghost packets are designed to be as short as possible, for minimum latency.
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*
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* Note that the GHST protocol does not handle, itself, failsafe conditions. Packets are passed from
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*
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* Note that the GHST protocol does not handle, itself, failsafe conditions. Packets are passed from
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* the Ghost receiver to Betaflight as and when they arrive. Betaflight itself is responsible for
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* determining when a failsafe is necessary based on dropped packets.
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*
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* determining when a failsafe is necessary based on dropped packets.
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*
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*/
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#define GHST_FRAME_LENGTH_ADDRESS 1
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@ -162,7 +162,7 @@ STATIC_UNIT_TESTED void ghstDataReceive(uint16_t c, void *data)
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ghstFrameAvailable = true;
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// remember what time the incoming (Rx) packet ended, so that we can ensure a quite bus before sending telemetry
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ghstRxFrameEndAtUs = microsISR();
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ghstRxFrameEndAtUs = microsISR();
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}
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}
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}
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@ -179,7 +179,7 @@ STATIC_UNIT_TESTED uint8_t ghstFrameStatus(rxRuntimeState_t *rxRuntimeState)
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ghstValidatedFrameAvailable = true;
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return RX_FRAME_COMPLETE | RX_FRAME_PROCESSING_REQUIRED; // request callback through ghstProcessFrame to do the decoding work
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}
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return RX_FRAME_DROPPED; // frame was invalid
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}
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@ -194,7 +194,7 @@ STATIC_UNIT_TESTED uint8_t ghstFrameStatus(rxRuntimeState_t *rxRuntimeState)
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static bool ghstProcessFrame(const rxRuntimeState_t *rxRuntimeState)
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{
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// Assume that the only way we get here is if ghstFrameStatus returned RX_FRAME_PROCESSING_REQUIRED, which indicates that the CRC
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// is correct, and the message was actually for us.
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// is correct, and the message was actually for us.
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UNUSED(rxRuntimeState);
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@ -225,7 +225,7 @@ static bool ghstProcessFrame(const rxRuntimeState_t *rxRuntimeState)
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case GHST_UL_RC_CHANS_HS4_5TO8: startIdx = 4; break;
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case GHST_UL_RC_CHANS_HS4_9TO12: startIdx = 8; break;
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case GHST_UL_RC_CHANS_HS4_13TO16: startIdx = 12; break;
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}
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}
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ghstChannelData[startIdx++] = rcChannels->cha << 3;
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ghstChannelData[startIdx++] = rcChannels->chb << 3;
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@ -245,15 +245,15 @@ static bool ghstProcessFrame(const rxRuntimeState_t *rxRuntimeState)
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STATIC_UNIT_TESTED uint16_t ghstReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan)
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{
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UNUSED(rxRuntimeState);
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UNUSED(rxRuntimeState);
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// derived from original SBus scaling, with slight correction for offset (now symmetrical
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// derived from original SBus scaling, with slight correction for offset (now symmetrical
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// around OpenTx 0 value)
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// scaling is:
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// scaling is:
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// OpenTx RC PWM
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// min -1024 172 988us
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// ctr 0 992 1500us
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// max 1024 1811 2012us
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// max 1024 1811 2012us
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//
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return (5 * (ghstChannelData[chan]+1) / 8) + 880;
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@ -279,7 +279,7 @@ bool ghstRxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
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}
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rxRuntimeState->channelCount = GHST_MAX_NUM_CHANNELS;
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rxRuntimeState->rxRefreshRate = GHST_TIME_BETWEEN_FRAMES_US;
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rxRuntimeState->rxRefreshRate = GHST_TIME_BETWEEN_FRAMES_US;
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rxRuntimeState->rcReadRawFn = ghstReadRawRC;
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rxRuntimeState->rcFrameStatusFn = ghstFrameStatus;
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@ -22,7 +22,7 @@
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#include "rx/ghst_protocol.h"
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#define GHST_MAX_NUM_CHANNELS 16
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#define GHST_MAX_NUM_CHANNELS 16
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void ghstRxWriteTelemetryData(const void *data, int len);
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void ghstRxSendTelemetryData(void);
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@ -28,7 +28,7 @@
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#define GHST_TX_BAUDRATE_FAST 400000
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#define GHST_TX_BAUDRATE_SLOW 115200
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#define GHST_BYTE_TIME_FAST_US ((1000000/GHST_TX_BAUDRATE_FAST)*10) // 10 bit words (8 data, 1 start, 1 stop)
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#define GHST_BYTE_TIME_SLOW_US ((1000000/GHST_TX_BAUDRATE_SLOW)*10)
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#define GHST_BYTE_TIME_SLOW_US ((1000000/GHST_TX_BAUDRATE_SLOW)*10)
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#define GHST_UART_WORDLENGTH UART_WORDLENGTH_8B
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typedef enum {
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@ -41,7 +41,7 @@ typedef enum {
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GHST_ADDR_QUANTUM_TEE2 = 0x85,
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GHST_ADDR_QUANTUM_GW1 = 0x86,
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GHST_ADDR_5G_CLK = 0x87, // phase 3
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GHST_ADDR_RX = 0x89
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GHST_ADDR_RX = 0x89
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} ghstAddr_e;
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typedef enum {
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@ -54,7 +54,7 @@ typedef enum {
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typedef enum {
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GHST_DL_OPENTX_SYNC = 0x20,
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GHST_DL_LINK_STAT = 0x21,
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GHST_DL_LINK_STAT = 0x21,
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GHST_DL_VTX_STAT = 0x22,
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GHST_DL_PACK_STAT = 0x23, // Battery (Pack) Status
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} ghstDl_e;
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@ -64,9 +64,9 @@ typedef enum {
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#define GHST_FRAME_SIZE 14 // including addr, type, len, crc, and payload
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#define GHST_PAYLOAD_SIZE_MAX 14
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#define GHST_PAYLOAD_SIZE_MAX 14
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#define GHST_FRAME_SIZE_MAX 24
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#define GHST_FRAME_SIZE_MAX 24
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typedef struct ghstFrameDef_s {
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uint8_t addr;
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@ -88,7 +88,7 @@ typedef struct ghstPayloadPulses_s {
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unsigned int ch3: 12;
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unsigned int ch4: 12;
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unsigned int cha: 8;
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unsigned int cha: 8;
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unsigned int chb: 8;
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unsigned int chc: 8;
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unsigned int chd: 8;
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@ -141,7 +141,7 @@ static void processGhst(void)
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void initGhstTelemetry(void)
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{
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// If the GHST Rx driver is active, since tx and rx share the same pin, assume telemetry is enabled.
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// If the GHST Rx driver is active, since tx and rx share the same pin, assume telemetry is enabled.
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ghstTelemetryEnabled = ghstRxIsActive();
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if (!ghstTelemetryEnabled) {
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