From 4508972121196d8892520e56e6b374a59281e50a Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Thu, 2 Jan 2014 22:34:08 +0100 Subject: Further data format and code style fixes. --- src/drivers/frsky_telemetry/frsky_data.c | 96 +++++++++++++-------------- src/drivers/frsky_telemetry/frsky_telemetry.c | 19 +++--- 2 files changed, 56 insertions(+), 59 deletions(-) (limited to 'src') diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c index 9e6d57fac..63b2d2d29 100644 --- a/src/drivers/frsky_telemetry/frsky_data.c +++ b/src/drivers/frsky_telemetry/frsky_data.c @@ -53,8 +53,7 @@ #include #include - -// FrSky sensor hub data IDs +/* FrSky sensor hub data IDs */ #define FRSKY_ID_GPS_ALT_BP 0x01 #define FRSKY_ID_TEMP1 0x02 #define FRSKY_ID_RPM 0x03 @@ -87,18 +86,13 @@ #define FRSKY_ID_VOLTS_BP 0x3A #define FRSKY_ID_VOLTS_AP 0x3B - #define frac(f) (f - (int)f) -float frsky_format_gps(float dec); - - static int battery_sub = -1; static int sensor_sub = -1; static int global_position_sub = -1; static int vehicle_status_sub = -1; - /** * Initializes the uORB subscriptions. */ @@ -113,8 +107,7 @@ void frsky_init() /** * Sends a 0x5E start/stop byte. */ -static void -frsky_send_startstop(int uart) +static void frsky_send_startstop(int uart) { static const uint8_t c = 0x5E; write(uart, &c, sizeof(c)); @@ -123,14 +116,12 @@ frsky_send_startstop(int uart) /** * Sends one byte, performing byte-stuffing if necessary. */ -static void -frsky_send_byte(int uart, uint8_t value) +static void frsky_send_byte(int uart, uint8_t value) { - const uint8_t x5E[] = {0x5D, 0x3E}; - const uint8_t x5D[] = {0x5D, 0x3D}; + const uint8_t x5E[] = { 0x5D, 0x3E }; + const uint8_t x5D[] = { 0x5D, 0x3D }; - switch (value) - { + switch (value) { case 0x5E: write(uart, x5E, sizeof(x5E)); break; @@ -148,10 +139,9 @@ frsky_send_byte(int uart, uint8_t value) /** * Sends one data id/value pair. */ -static void -frsky_send_data(int uart, uint8_t id, int16_t data) +static void frsky_send_data(int uart, uint8_t id, int16_t data) { - // Cast data to unsigned, because signed shift might behave incorrectly + /* Cast data to unsigned, because signed shift might behave incorrectly */ uint16_t udata = data; frsky_send_startstop(uart); @@ -163,7 +153,7 @@ frsky_send_data(int uart, uint8_t id, int16_t data) /** * Sends frame 1 (every 200ms): - * acceleration values, altitude (vario), temperatures, current & voltages, RPM + * acceleration values, barometer altitude, temperature, battery voltage & current */ void frsky_send_frame1(int uart) { @@ -178,17 +168,25 @@ void frsky_send_frame1(int uart) orb_copy(ORB_ID(battery_status), battery_sub, &battery); /* send formatted frame */ - frsky_send_data(uart, FRSKY_ID_ACCEL_X, raw.accelerometer_m_s2[0] * 1000.0f); - frsky_send_data(uart, FRSKY_ID_ACCEL_Y, raw.accelerometer_m_s2[1] * 1000.0f); - frsky_send_data(uart, FRSKY_ID_ACCEL_Z, raw.accelerometer_m_s2[2] * 1000.0f); - - frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP, raw.baro_alt_meter); - frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP, frac(raw.baro_alt_meter) * 1000.0f); - - frsky_send_data(uart, FRSKY_ID_TEMP1, raw.baro_temp_celcius * 10.0f); - - frsky_send_data(uart, FRSKY_ID_VFAS, battery.voltage_v * 10.0f); - frsky_send_data(uart, FRSKY_ID_CURRENT, battery.current_a); + frsky_send_data(uart, FRSKY_ID_ACCEL_X, + roundf(raw.accelerometer_m_s2[0] * 1000.0f)); + frsky_send_data(uart, FRSKY_ID_ACCEL_Y, + roundf(raw.accelerometer_m_s2[1] * 1000.0f)); + frsky_send_data(uart, FRSKY_ID_ACCEL_Z, + roundf(raw.accelerometer_m_s2[2] * 1000.0f)); + + frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP, + raw.baro_alt_meter); + frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP, + roundf(frac(raw.baro_alt_meter) * 100.0f)); + + frsky_send_data(uart, FRSKY_ID_TEMP1, + roundf(raw.baro_temp_celcius)); + + frsky_send_data(uart, FRSKY_ID_VFAS, + roundf(battery.voltage_v * 10.0f)); + frsky_send_data(uart, FRSKY_ID_CURRENT, + (battery.current_a < 0) ? 0 : roundf(battery.current_a * 10.0f)); frsky_send_startstop(uart); } @@ -196,47 +194,48 @@ void frsky_send_frame1(int uart) /** * Formats the decimal latitude/longitude to the required degrees/minutes/seconds. */ -float frsky_format_gps(float dec) +static float frsky_format_gps(float dec) { - float dms_deg = (int)dec; - float dec_deg = dec - dms_deg; - float dms_min = (int)(dec_deg * 60); - float dec_min = (dec_deg * 60) - dms_min; - float dms_sec = dec_min * 60; + float dms_deg = (int) dec; + float dec_deg = dec - dms_deg; + float dms_min = (int) (dec_deg * 60); + float dec_min = (dec_deg * 60) - dms_min; + float dms_sec = dec_min * 60; - return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f); + return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f); } /** * Sends frame 2 (every 1000ms): - * course, latitude, longitude, speed, altitude (GPS), fuel level + * GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level */ void frsky_send_frame2(int uart) { - /* get a local copy of the global position data */ + /* get a local copy of the global position data */ struct vehicle_global_position_s global_pos; memset(&global_pos, 0, sizeof(global_pos)); orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos); - /* get a local copy of the vehicle status data */ + /* get a local copy of the vehicle status data */ struct vehicle_status_s vehicle_status; memset(&vehicle_status, 0, sizeof(vehicle_status)); orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status); /* send formatted frame */ - float course = 0, lat = 0, lon = 0, speed = 0, alt = 0, sec = 0; + float course = 0, lat = 0, lon = 0, speed = 0, alt = 0; char lat_ns = 0, lon_ew = 0; - if (global_pos.valid) - { + int sec = 0; + if (global_pos.valid) { time_t time_gps = global_pos.time_gps_usec / 1000000; struct tm *tm_gps = gmtime(&time_gps); course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f; lat = frsky_format_gps(abs(global_pos.lat) / 10000000.0f); - lat_ns = (global_pos.lat < 0) ? 'S' : 'N'; + lat_ns = (global_pos.lat < 0) ? 'S' : 'N'; lon = frsky_format_gps(abs(global_pos.lon) / 10000000.0f); lon_ew = (global_pos.lon < 0) ? 'W' : 'E'; - speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) * 25.0f / 46.0f; + speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) + * 25.0f / 46.0f; alt = global_pos.alt; sec = tm_gps->tm_sec; } @@ -258,7 +257,8 @@ void frsky_send_frame2(int uart) frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt); frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f); - frsky_send_data(uart, FRSKY_ID_FUEL, vehicle_status.battery_remaining); + frsky_send_data(uart, FRSKY_ID_FUEL, + roundf(vehicle_status.battery_remaining * 100.0f)); frsky_send_data(uart, FRSKY_ID_GPS_SEC, sec); @@ -267,11 +267,11 @@ void frsky_send_frame2(int uart) /** * Sends frame 3 (every 5000ms): - * date, time + * GPS date & time */ void frsky_send_frame3(int uart) { - /* get a local copy of the battery data */ + /* get a local copy of the battery data */ struct vehicle_global_position_s global_pos; memset(&global_pos, 0, sizeof(global_pos)); orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos); diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c index c4e29fe51..7b08ca69e 100644 --- a/src/drivers/frsky_telemetry/frsky_telemetry.c +++ b/src/drivers/frsky_telemetry/frsky_telemetry.c @@ -72,8 +72,7 @@ __EXPORT int frsky_telemetry_main(int argc, char *argv[]); /** * Opens the UART device and sets all required serial parameters. */ -static int -frsky_open_uart(const char *uart_name, struct termios *uart_config_original) +static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original) { /* Open UART */ const int uart = open(uart_name, O_WRONLY | O_NOCTTY); @@ -118,20 +117,19 @@ frsky_open_uart(const char *uart_name, struct termios *uart_config_original) /** * Print command usage information */ -static void -usage() +static void usage() { - fprintf(stderr, "usage: frsky_telemetry start [-d ]\n" - " frsky_telemetry stop\n" - " frsky_telemetry status\n"); + fprintf(stderr, + "usage: frsky_telemetry start [-d ]\n" + " frsky_telemetry stop\n" + " frsky_telemetry status\n"); exit(1); } /** * The daemon thread. */ -static int -frsky_telemetry_thread_main(int argc, char *argv[]) +static int frsky_telemetry_thread_main(int argc, char *argv[]) { /* Default values for arguments */ char *device_name = "/dev/ttyS1"; /* USART2 */ @@ -207,8 +205,7 @@ frsky_telemetry_thread_main(int argc, char *argv[]) * The main command function. * Processes command line arguments and starts the daemon. */ -int -frsky_telemetry_main(int argc, char *argv[]) +int frsky_telemetry_main(int argc, char *argv[]) { if (argc < 2) { warnx("missing command"); -- cgit v1.2.3