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author | px4dev <px4@purgatory.org> | 2012-08-14 08:47:04 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-14 08:47:04 -0700 |
commit | 34118c72ef88d33d0074914c9bf0cda0232e4940 (patch) | |
tree | 95a797b6d8d5e7dbb82fc2c44c095de10491a1a8 /apps | |
parent | 92a1fab0fd9e95737258c30fc423e839652edb72 (diff) | |
download | px4-firmware-34118c72ef88d33d0074914c9bf0cda0232e4940.tar.gz px4-firmware-34118c72ef88d33d0074914c9bf0cda0232e4940.tar.bz2 px4-firmware-34118c72ef88d33d0074914c9bf0cda0232e4940.zip |
mechanical style fixups
Diffstat (limited to 'apps')
-rw-r--r-- | apps/drivers/drv_gpio.h | 4 | ||||
-rw-r--r-- | apps/drivers/drv_mixer.h | 17 | ||||
-rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 10 | ||||
-rw-r--r-- | apps/px4/fmu/fmu.cpp | 65 | ||||
-rw-r--r-- | apps/systemlib/hx_stream.h | 12 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer.cpp | 3 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer.h | 17 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer_group.cpp | 17 | ||||
-rw-r--r-- | apps/systemlib/perf_counter.c | 2 | ||||
-rw-r--r-- | apps/systemlib/visibility.h | 4 |
10 files changed, 84 insertions, 67 deletions
diff --git a/apps/drivers/drv_gpio.h b/apps/drivers/drv_gpio.h index b9684bce1..361d731eb 100644 --- a/apps/drivers/drv_gpio.h +++ b/apps/drivers/drv_gpio.h @@ -40,10 +40,10 @@ #include <sys/ioctl.h> -/* +/* * GPIO defines come from a board-specific header, as they are shared * with board-specific logic. - * + * * The board-specific header must define: * GPIO_DEVICE_PATH * GPIO_RESET diff --git a/apps/drivers/drv_mixer.h b/apps/drivers/drv_mixer.h index 125b0d28a..fd54ed7fa 100644 --- a/apps/drivers/drv_mixer.h +++ b/apps/drivers/drv_mixer.h @@ -71,8 +71,7 @@ #define MIXERIOCRESET _MIXERIOC(1) /** simple channel scaler */ -struct mixer_scaler_s -{ +struct mixer_scaler_s { float negative_scale; float positive_scale; float offset; @@ -81,16 +80,14 @@ struct mixer_scaler_s }; /** mixer input */ -struct mixer_control_s -{ +struct mixer_control_s { uint8_t control_group; /**< group from which the input reads */ uint8_t control_index; /**< index within the control group */ struct mixer_scaler_s scaler; /**< scaling applied to the input before use */ }; /** simple mixer */ -struct mixer_simple_s -{ +struct mixer_simple_s { uint8_t control_count; /**< number of inputs */ struct mixer_scaler_s output_scaler; /**< scaling for the output */ struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */ @@ -99,20 +96,18 @@ struct mixer_simple_s #define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s)) /** - * add a simple mixer in (struct mixer_simple_s *)arg + * add a simple mixer in (struct mixer_simple_s *)arg */ #define MIXERIOCADDSIMPLE _MIXERIOC(2) /** multirotor output definition */ -struct mixer_rotor_output_s -{ +struct mixer_rotor_output_s { float angle; /**< rotor angle clockwise from forward in radians */ float distance; /**< motor distance from centre in arbitrary units */ }; /** multirotor mixer */ -struct mixer_multirotor_s -{ +struct mixer_multirotor_s { uint8_t rotor_count; struct mixer_control_s controls[4]; /**< controls are roll, pitch, yaw, thrust */ struct mixer_rotor_output_s rotors[0]; /**< actual size of the array is set by rotor_count */ diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index 70e3e41c5..7576fc1d9 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -367,7 +367,7 @@ MPU6000::init() // FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter) write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ); usleep(1000); - write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000¼/s + write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); // Gyro scale 2000¼/s usleep(1000); // product-specific scaling @@ -390,15 +390,16 @@ MPU6000::init() case MPU6000_REV_D9: case MPU6000_REV_D10: // Accel scale 8g (4096 LSB/g) - write_reg(MPUREG_ACCEL_CONFIG,2<<3); + write_reg(MPUREG_ACCEL_CONFIG, 2 << 3); break; } + usleep(1000); // INT CFG => Interrupt on Data Ready - write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready + write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready usleep(1000); - write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read + write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read usleep(1000); // Oscillator set @@ -898,6 +899,7 @@ mpu6000_main(int argc, char *argv[]) g_dev = nullptr; return -EIO; } + return OK; } diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp index bac9431eb..9d8847246 100644 --- a/apps/px4/fmu/fmu.cpp +++ b/apps/px4/fmu/fmu.cpp @@ -100,10 +100,10 @@ private: static void task_main_trampoline(int argc, char *argv[]); void task_main(); - static int control_callback_trampoline(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); + static int control_callback_trampoline(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input); int control_callback(uint8_t control_group, uint8_t control_index, float &input); @@ -285,7 +285,7 @@ FMUServo::task_main() } int -FMUServo::control_callback_trampoline(uintptr_t handle, +FMUServo::control_callback_trampoline(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input) @@ -363,6 +363,7 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg) } else { *(unsigned *)arg = 2; } + break; case MIXERIOCRESET: @@ -370,22 +371,27 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg) delete _mixers; _mixers = nullptr; } + break; case MIXERIOCADDSIMPLE: { - mixer_simple_s *mixinfo = (mixer_simple_s *)arg; + mixer_simple_s *mixinfo = (mixer_simple_s *)arg; - SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo); - if (mixer->check()) { - delete mixer; - ret = -EINVAL; - } else { - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this); - _mixers->add_mixer(mixer); + SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo); + + if (mixer->check()) { + delete mixer; + ret = -EINVAL; + + } else { + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this); + + _mixers->add_mixer(mixer); + } + + break; } - break; - } case MIXERIOCADDMULTIROTOR: /* XXX not yet supported */ @@ -393,20 +399,23 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg) break; case MIXERIOCLOADFILE: { - const char *path = (const char *)arg; + const char *path = (const char *)arg; - if (_mixers != nullptr) { - delete _mixers; - _mixers = nullptr; - } - _mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this); - if (_mixers->load_from_file(path) != 0) { - delete _mixers; - _mixers = nullptr; - ret = -EINVAL; + if (_mixers != nullptr) { + delete _mixers; + _mixers = nullptr; + } + + _mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this); + + if (_mixers->load_from_file(path) != 0) { + delete _mixers; + _mixers = nullptr; + ret = -EINVAL; + } + + break; } - break; - } default: ret = -ENOTTY; diff --git a/apps/systemlib/hx_stream.h b/apps/systemlib/hx_stream.h index e33cfcd84..ac3b3e99d 100644 --- a/apps/systemlib/hx_stream.h +++ b/apps/systemlib/hx_stream.h @@ -33,7 +33,7 @@ /** * @file hx_stream.h - * + * * A simple serial line framing protocol based on HDLC * with 32-bit CRC protection. */ @@ -65,8 +65,8 @@ __BEGIN_DECLS * not be allocated. */ __EXPORT extern hx_stream_t hx_stream_init(int fd, - hx_stream_rx_callback callback, - void *arg); + hx_stream_rx_callback callback, + void *arg); /** * Free a hx_stream object. @@ -106,8 +106,8 @@ __EXPORT extern void hx_stream_set_counters(hx_stream_t stream, * set on error. */ __EXPORT extern int hx_stream_send(hx_stream_t stream, - const void *data, - size_t count); + const void *data, + size_t count); /** * Handle a byte from the stream. @@ -116,7 +116,7 @@ __EXPORT extern int hx_stream_send(hx_stream_t stream, * @param c The character to process. */ __EXPORT extern void hx_stream_rx(hx_stream_t stream, - uint8_t c); + uint8_t c); __END_DECLS diff --git a/apps/systemlib/mixer/mixer.cpp b/apps/systemlib/mixer/mixer.cpp index eaa1d60ed..49c8ed75a 100644 --- a/apps/systemlib/mixer/mixer.cpp +++ b/apps/systemlib/mixer/mixer.cpp @@ -116,6 +116,7 @@ NullMixer::mix(float *outputs, unsigned space) *outputs = 0.0f; return 1; } + return 0; } @@ -148,6 +149,7 @@ SimpleMixer::mix(float *outputs, unsigned space) if (_info == nullptr) return 0; + if (space < 1) return 0; @@ -161,6 +163,7 @@ SimpleMixer::mix(float *outputs, unsigned space) sum += scale(_info->controls[i].scaler, input); } + *outputs = scale(_info->output_scaler, sum); return 1; } diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h index 5a3857a00..882acb33e 100644 --- a/apps/systemlib/mixer/mixer.h +++ b/apps/systemlib/mixer/mixer.h @@ -131,7 +131,7 @@ #include "drivers/drv_mixer.h" /** - * Abstract class defining a mixer mixing zero or more inputs to + * Abstract class defining a mixer mixing zero or more inputs to * one or more outputs. */ class __EXPORT Mixer @@ -149,10 +149,10 @@ public: * @param control The returned control * @return Zero if the value was fetched, nonzero otherwise. */ - typedef int (* ControlCallback)(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &control); + typedef int (* ControlCallback)(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &control); /** * Constructor. @@ -237,8 +237,8 @@ public: * * Z: * - * This mixer generates a constant zero output, and is normally used to - * skip over outputs that are not in use. + * This mixer generates a constant zero output, and is normally used to + * skip over outputs that are not in use. * * Simple Mixer: * @@ -336,8 +336,7 @@ private: class __EXPORT MultirotorMixer : public Mixer { public: - enum Geometry - { + enum Geometry { MULTIROTOR_QUAD_PLUS, MULTIROTOR_QUAD_X /* XXX add more here */ diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp index 11894e02b..3f954c129 100644 --- a/apps/systemlib/mixer/mixer_group.cpp +++ b/apps/systemlib/mixer/mixer_group.cpp @@ -171,10 +171,12 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd /* first, get the output scaler */ ret = mixer_getline(fd, buf, sizeof(buf)); + if (ret < 1) { debug("failed reading for output scaler"); goto fail; } + if (mixer_parse_output_scaler(buf, mixinfo->output_scaler)) { debug("failed parsing output scaler"); goto fail; @@ -183,17 +185,20 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd /* now get any inputs */ for (unsigned i = 0; i < inputs; i++) { ret = mixer_getline(fd, buf, sizeof(buf)); + if (ret < 1) { debug("failed reading for control scaler"); goto fail; } - if (mixer_parse_control_scaler(buf, - mixinfo->controls[i].scaler, - mixinfo->controls[i].control_group, - mixinfo->controls[i].control_index)) { + + if (mixer_parse_control_scaler(buf, + mixinfo->controls[i].scaler, + mixinfo->controls[i].control_group, + mixinfo->controls[i].control_index)) { debug("failed parsing control scaler"); goto fail; } + debug("got control %d", i); } @@ -266,8 +271,10 @@ MixerGroup::add_mixer(Mixer *mixer) Mixer **mpp; mpp = &_first; + while (*mpp != nullptr) mpp = &((*mpp)->_next); + *mpp = mixer; mixer->_next = nullptr; } @@ -282,6 +289,7 @@ MixerGroup::mix(float *outputs, unsigned space) index += mixer->mix(outputs + index, space - index); mixer = mixer->_next; } + return index; } @@ -303,6 +311,7 @@ MixerGroup::load_from_file(const char *path) return -1; int fd = open(path, O_RDONLY); + if (fd < 0) { debug("failed to open %s", path); return -1; diff --git a/apps/systemlib/perf_counter.c b/apps/systemlib/perf_counter.c index 14bd3c436..e25e548f0 100644 --- a/apps/systemlib/perf_counter.c +++ b/apps/systemlib/perf_counter.c @@ -33,7 +33,7 @@ /** * @file perf_counter.c - * + * * @brief Performance measuring tools. */ diff --git a/apps/systemlib/visibility.h b/apps/systemlib/visibility.h index 64e83bbad..2c6adc062 100644 --- a/apps/systemlib/visibility.h +++ b/apps/systemlib/visibility.h @@ -33,7 +33,7 @@ /** * @file visibility.h - * + * * Definitions controlling symbol naming and visibility. * * This file is normally included automatically by the build system. @@ -58,5 +58,5 @@ #else # define __BEGIN_DECLS # define __END_DECLS -#endif +#endif #endif
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