More cleaning, moved stopwatch files to library folder, code formatting.

flight/Bootloaders/AHRS/ahrs_slave_test.c

@@ -3,36 +3,32 @@
 
 uint8_t buf[256];
 
-bool StartProgramming(void)
+bool StartProgramming(void) {
-{
+	PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Started programming\r\n");
-	PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Started programming\r\n");
+	return (true);
-	return(true);
 }
 
-bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size)
+bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size) {
-{
+	if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
-	if(size > SPI_MAX_PROGRAM_DATA_SIZE)
+		PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
-	{
+		return (false);
-PIOS_COM_SendFormattedString(PIOS_COM_AUX,"oversize: %d\r\n", size);
-		return(false);
 	}
-	PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Wrote %d bytes to %d\r\n", size, offset);
+	PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Wrote %d bytes to %d\r\n",
-	memcpy(buf,buffer,size);
+			size, offset);
+	memcpy(buf, buffer, size);
 	PIOS_LED_Toggle(LED1);
-	return(true);
+	return (true);
 }
 
-bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size)
+bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size) {
-{
+	if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
-	if(size > SPI_MAX_PROGRAM_DATA_SIZE)
+		PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
-	{
+		return (false);
-PIOS_COM_SendFormattedString(PIOS_COM_AUX,"oversize: %d\r\n", size);
-		return(false);
 	}
-	PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Read %d bytes from %d\r\n", size, offset);
+	PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Read %d bytes from %d\r\n",
-	memcpy(buffer,buf,size);
+			size, offset);
+	memcpy(buffer, buf, size);
 	PIOS_LED_Toggle(LED1);
-	return(true);
+	return (true);
 }
 
-

flight/Bootloaders/AHRS/ahrs_spi_program.c

@@ -2,88 +2,64 @@
 #include "ahrs_spi_program.h"
 
 // Static CRC polynomial table
-static uint32_t crcTable[256] =
+static uint32_t crcTable[256] = { 0x00000000, 0x77073096, 0xEE0E612C,
-{
+		0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, 0x0EDB8832,
-	0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA,
+		0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07,
-	0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,
+		0x90BF1D91, 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D,
-	0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988,
+		0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 0x136C9856, 0x646BA8C0, 0xFD62F97A,
-	0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,
+		0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 0x3B6E20C8,
-	0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE,
+		0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD,
-	0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,
+		0xA50AB56B, 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3,
-	0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC,
+		0x45DF5C75, 0xDCD60DCF, 0xABD13D59, 0x26D930AC, 0x51DE003A, 0xC8D75180,
-	0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,
+		0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, 0x2802B89E,
-	0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172,
+		0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB,
-	0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,
+		0xB6662D3D,
-	0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940,
-	0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,
-	0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116,
-	0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
-	0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924,
-	0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,
 
-	0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A,
+		0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F,
-	0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
+		0x9FBFE4A5, 0xE8B8D433, 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818,
-	0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818,
+		0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, 0x6B6B51F4, 0x1C6C6162,
-	0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,
+		0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
-	0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E,
+		0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49,
-	0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
+		0x8CD37CF3, 0xFBD44C65, 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2,
-	0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C,
+		0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 0x4369E96A, 0x346ED9FC,
-	0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,
+		0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
-	0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2,
+		0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3,
-	0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,
+		0xB966D409, 0xCE61E49F, 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
-	0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0,
-	0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
-	0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086,
-	0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
-	0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
 		0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
 
-	0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A,
+		0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF,
-	0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,
+		0x04DB2615, 0x73DC1683, 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
-	0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
+		0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, 0xF00F9344, 0x8708A3D2,
-	0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
+		0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
-	0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE,
+		0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9,
-	0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
+		0x17B7BE43, 0x60B08ED5, 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252,
-	0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC,
+		0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, 0xD80D2BDA, 0xAF0A1B4C,
-	0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,
+		0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
-	0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252,
+		0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703,
-	0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
+		0x220216B9, 0x5505262F, 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
-	0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60,
-	0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
-	0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236,
-	0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
-	0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
 		0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
 
-	0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A,
+		0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F,
-	0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,
+		0x72076785, 0x05005713, 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38,
-	0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38,
+		0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 0x86D3D2D4, 0xF1D4E242,
-	0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,
+		0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
-	0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E,
+		0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69,
-	0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
+		0x616BFFD3, 0x166CCF45, 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2,
-	0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C,
+		0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 0xAED16A4A, 0xD9D65ADC,
-	0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
+		0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
-	0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2,
+		0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693,
-	0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,
+		0x54DE5729, 0x23D967BF, 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
-	0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0,
+		0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D, };
-	0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
-	0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6,
-	0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,
-	0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
-	0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D,
-};
 
 /**generate CRC32 from a program packet
-this is slightly overkill but we want to be sure
+ this is slightly overkill but we want to be sure
-*/
+ */
-uint32_t GenerateCRC (AhrsProgramPacket * packet)
+uint32_t GenerateCRC(AhrsProgramPacket * packet) {
-{
+	uint8_t * ptr = (uint8_t *) packet;
-	uint8_t * ptr = (uint8_t *)packet;
+	int size = ((int) &packet->crc) - (int) packet;
-	int size = ((int)&packet->crc) - (int)packet;
 	uint32_t crc = 0xFFFFFFFF;
-	for(int ct=0; ct< size; ct++)
+	for (int ct = 0; ct < size; ct++) {
-	{
 		crc = ((crc) >> 8) ^ crcTable[(*ptr++) ^ ((crc) & 0x000000FF)];
 	}
-	return(~crc);
+	return (~crc);
 }

flight/Bootloaders/AHRS/ahrs_spi_program_master.c

@@ -29,22 +29,22 @@
 #include "ahrs_spi_program.h"
 #include "pios_spi.h"
 
-PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf);
+PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
+		AhrsProgramPacket *rxBuf);
 
 #define MAX_CONNECT_TRIES 500 //half a second
-
+bool AhrsProgramConnect(uint32_t spi_id) {
-bool AhrsProgramConnect(uint32_t spi_id)
-{
 	AhrsProgramPacket rxBuf;
 	AhrsProgramPacket txBuf;
 	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
-	memcpy(&txBuf,SPI_PROGRAM_REQUEST,SPI_PROGRAM_REQUEST_LENGTH);
+	memcpy(&txBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH);
-	for(int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
+	for (int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
 		PIOS_SPI_RC_PinSet(spi_id, 0);
 		uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) &txBuf,
-											  (uint8_t *) & rxBuf, SPI_PROGRAM_REQUEST_LENGTH +1, NULL);
+				(uint8_t *) &rxBuf, SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
 		PIOS_SPI_RC_PinSet(spi_id, 1);
-		if(res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
+		if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK,
+				SPI_PROGRAM_REQUEST_LENGTH) == 0) {
 			return (true);
 		}
 
@@ -53,25 +53,24 @@ bool AhrsProgramConnect(uint32_t spi_id)
 	return (false);
 }
 
-
+PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
-PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data, uint32_t size)
+		uint32_t size) {
-{
 	AhrsProgramPacket rxBuf;
 	AhrsProgramPacket txBuf;
 	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
-	memcpy(txBuf.data,data,size);
+	memcpy(txBuf.data, data, size);
 	txBuf.size = size;
 	txBuf.type = PROGRAM_WRITE;
 	txBuf.address = address;
 	PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
-	if(ret != PROGRAM_ERR_OK) {
+	if (ret != PROGRAM_ERR_OK) {
-		return(ret);
+		return (ret);
 	}
-	return(PROGRAM_ERR_OK);
+	return (PROGRAM_ERR_OK);
 }
 
-PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data, uint32_t size)
+PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
-{
+		uint32_t size) {
 	AhrsProgramPacket rxBuf;
 	AhrsProgramPacket txBuf;
 	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
@@ -79,59 +78,54 @@ PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data, uint32_t
 	txBuf.type = PROGRAM_READ;
 	txBuf.address = address;
 	PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
-	if(ret != PROGRAM_ERR_OK) {
+	if (ret != PROGRAM_ERR_OK) {
-		return(ret);
+		return (ret);
 	}
 	memcpy(data, rxBuf.data, size);
-	return(PROGRAM_ERR_OK);
+	return (PROGRAM_ERR_OK);
 }
 
-PROGERR AhrsProgramReboot(uint32_t spi_id)
+PROGERR AhrsProgramReboot(uint32_t spi_id) {
-{
 	AhrsProgramPacket rxBuf;
 	AhrsProgramPacket txBuf;
 	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
 	txBuf.type = PROGRAM_REBOOT;
-	memcpy(txBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH);
+	memcpy(txBuf.data, REBOOT_CONFIRMATION, REBOOT_CONFIRMATION_LENGTH);
 	PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
 	//If AHRS has rebooted we will get comms errors
-	if(ret == PROGRAM_ERR_LINK) {
+	if (ret == PROGRAM_ERR_LINK) {
-		return(PROGRAM_ERR_OK);
+		return (PROGRAM_ERR_OK);
 	}
-	return(PROGRAM_ERR_FUNCTION);
+	return (PROGRAM_ERR_FUNCTION);
 }
 
-PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf)
+PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
-{
+		AhrsProgramPacket *rxBuf) {
 	static uint32_t pktId = 0;
 	pktId++;
 	txBuf->packetId = pktId;
 	txBuf->crc = GenerateCRC(txBuf);
 	int ct = 0;
-	for(; ct < MAX_CONNECT_TRIES; ct++) {
+	for (; ct < MAX_CONNECT_TRIES; ct++) {
 		PIOS_SPI_RC_PinSet(spi_id, 0);
 		uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) txBuf,
 				(uint8_t *) rxBuf, sizeof(AhrsProgramPacket), NULL);
 		PIOS_SPI_RC_PinSet(spi_id, 1);
-		if(res == 0) {
+		if (res == 0) {
-			if(rxBuf->type != PROGRAM_NULL &&
+			if (rxBuf->type != PROGRAM_NULL && rxBuf->crc == GenerateCRC(rxBuf)
-					rxBuf->crc == GenerateCRC(rxBuf) &&
+					&& rxBuf->packetId == pktId) {
-					rxBuf->packetId == pktId) {
 				break;
 			}
 		}
 
 		vTaskDelay(1 / portTICK_RATE_MS);
 	}
-	if(ct == MAX_CONNECT_TRIES) {
+	if (ct == MAX_CONNECT_TRIES) {
 		return (PROGRAM_ERR_LINK);
 	}
-	if(rxBuf->type  != PROGRAM_ACK) {
+	if (rxBuf->type != PROGRAM_ACK) {
-		return(PROGRAM_ERR_FUNCTION);
+		return (PROGRAM_ERR_FUNCTION);
 	}
-	return(PROGRAM_ERR_OK);
+	return (PROGRAM_ERR_OK);
 }
 
-
-
-

flight/Bootloaders/AHRS/ahrs_spi_program_slave.c

@@ -24,7 +24,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #include <stdint.h>
 #include <string.h>
 
@@ -43,53 +42,52 @@ static bool done = false;
 static void ProcessPacket();
 
 #define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high
-
 //Number of crc failures to allow before giving up
 #define PROGRAM_PACKET_TRIES 4
 
-void AhrsProgramReceive(uint32_t spi_id)
+void AhrsProgramReceive(uint32_t spi_id) {
-{
 	done = false;
-	memset(&txBuf,0,sizeof(AhrsProgramPacket));
+	memset(&txBuf, 0, sizeof(AhrsProgramPacket));
 	//wait for a program request
 	int count = PROGRAM_PACKET_TRIES;
-	while(1) {
+	while (1) {
 		WAIT_IF_RECEIVING();
-		while((PIOS_SPI_Busy(spi_id) != 0)){};
+		while ((PIOS_SPI_Busy(spi_id) != 0)) {
-		memset(&rxBuf,'a',sizeof(AhrsProgramPacket));
+		};
+		memset(&rxBuf, 'a', sizeof(AhrsProgramPacket));
 		int32_t res = PIOS_SPI_TransferBlock(spi_id, NULL, (uint8_t*) &rxBuf,
 				SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
 
-		if(res == 0 &&
+		if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_REQUEST,
-				memcmp(&rxBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
+				SPI_PROGRAM_REQUEST_LENGTH) == 0) {
 			break;
 		}
-		if(count-- == 0) {
+		if (count-- == 0) {
 			return;
 		}
 	}
 
-	if(!StartProgramming()) {
+	if (!StartProgramming()) {
 		//Couldn't erase FLASH. Nothing we can do.
 		return;
 	}
 
 	//send ack
-	memcpy(&txBuf,SPI_PROGRAM_ACK,SPI_PROGRAM_REQUEST_LENGTH);
+	memcpy(&txBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH);
 	WAIT_IF_RECEIVING();
-	while(0 != PIOS_SPI_TransferBlock(spi_id,(uint8_t*) &txBuf, NULL,
+	while (0 != PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf, NULL,
-									  SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {};
+			SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {
+	};
 
 	txBuf.type = PROGRAM_NULL;
 
-	while(!done) {
+	while (!done) {
 		WAIT_IF_RECEIVING();
-		if(0 == PIOS_SPI_TransferBlock(spi_id,(uint8_t*) &txBuf,
+		if (0 == PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf,
 				(uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) {
 
 			uint32_t crc = GenerateCRC(&rxBuf);
-			if(crc != rxBuf.crc ||
+			if (crc != rxBuf.crc || txBuf.packetId == rxBuf.packetId) {
-				txBuf.packetId == rxBuf.packetId) {
 				continue;
 			}
 			ProcessPacket();
@@ -99,18 +97,14 @@ void AhrsProgramReceive(uint32_t spi_id)
 	}
 }
 
-
+void ProcessPacket() {
-
+	switch (rxBuf.type) {
-
-void ProcessPacket()
-{
-	switch(rxBuf.type) {
 	case PROGRAM_NULL:
 		txBuf.type = PROGRAM_NULL;
 		break;
 
 	case PROGRAM_WRITE:
-		if(WriteData(rxBuf.address, rxBuf.data, rxBuf.size)) {
+		if (WriteData(rxBuf.address, rxBuf.data, rxBuf.size)) {
 			txBuf.type = PROGRAM_ACK;
 			txBuf.size = rxBuf.size;
 		} else {
@@ -119,7 +113,7 @@ void ProcessPacket()
 		break;
 
 	case PROGRAM_READ:
-		if(ReadData(rxBuf.address, txBuf.data, rxBuf.size)) {
+		if (ReadData(rxBuf.address, txBuf.data, rxBuf.size)) {
 			txBuf.type = PROGRAM_ACK;
 			txBuf.size = rxBuf.size;
 		} else {
@@ -128,10 +122,11 @@ void ProcessPacket()
 		break;
 
 	case PROGRAM_REBOOT:
-		if(0 == memcmp(rxBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH)) {
+		if (0 == memcmp(rxBuf.data, REBOOT_CONFIRMATION,
+				REBOOT_CONFIRMATION_LENGTH)) {
 			done = true;
 			txBuf.type = PROGRAM_ACK;
-		}else{
+		} else {
 			txBuf.type = PROGRAM_ERR;
 		}
 		break;

flight/Bootloaders/AHRS/bl_fsm.c

@@ -29,12 +29,11 @@ struct lfsm_context {
 
 static struct lfsm_context context = { 0 };
 
-static void lfsm_update_link_tx (struct lfsm_context * context);
+static void lfsm_update_link_tx(struct lfsm_context * context);
-static void lfsm_init_rx (struct lfsm_context * context);
+static void lfsm_init_rx(struct lfsm_context * context);
 
 static uint32_t PIOS_SPI_OP;
-void lfsm_attach(uint32_t spi_id)
+void lfsm_attach(uint32_t spi_id) {
-{
 	PIOS_SPI_OP = spi_id;
 }
 
@@ -67,23 +66,20 @@ static void go_user_rxtx_active(struct lfsm_context * context);
 const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
 		[LFSM_STATE_FAULTED] = {
 			.entry_fn = go_faulted,
-  },
+		}, [LFSM_STATE_STOPPED] = {
-  [LFSM_STATE_STOPPED] = {
 			.entry_fn = go_stopped,
 			.next_state = {
 				[LFSM_EVENT_INIT_LINK] = LFSM_STATE_INACTIVE,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
 			},
-  },
+		}, [LFSM_STATE_STOPPING] = {
-  [LFSM_STATE_STOPPING] = {
 			.entry_fn = go_stopping,
 			.next_state = {
 				[LFSM_EVENT_RX_LINK] = LFSM_STATE_STOPPED,
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_STOPPED,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
 			},
-  },
+		}, [LFSM_STATE_INACTIVE] = {
-  [LFSM_STATE_INACTIVE] = {
 			.entry_fn = go_inactive,
 			.next_state = {
 				[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
@@ -93,8 +89,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
 			},
-  },
+		}, [LFSM_STATE_USER_BUSY] = {
-  [LFSM_STATE_USER_BUSY] = {
 			.entry_fn = go_user_busy,
 			.next_state = {
 				[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
@@ -105,8 +100,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY,
 			},
-  },
+		}, [LFSM_STATE_USER_BUSY_RX_PENDING] = {
-  [LFSM_STATE_USER_BUSY_RX_PENDING] = {
 			.entry_fn = go_user_busy_rx_pending,
 			.next_state = {
 				[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
@@ -115,8 +109,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RX_PENDING,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RX_PENDING,
 			},
-  },
+		}, [LFSM_STATE_USER_BUSY_TX_PENDING] = {
-  [LFSM_STATE_USER_BUSY_TX_PENDING] = {
 			.entry_fn = go_user_busy_tx_pending,
 			.next_state = {
 				[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
@@ -125,8 +118,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_TX_PENDING,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_TX_PENDING,
 			},
-  },
+		}, [LFSM_STATE_USER_BUSY_RXTX_PENDING] = {
-  [LFSM_STATE_USER_BUSY_RXTX_PENDING] = {
 			.entry_fn = go_user_busy_rxtx_pending,
 			.next_state = {
 				[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_RXTX_PENDING,
@@ -134,81 +126,70 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
 			},
-  },
+		}, [LFSM_STATE_USER_RX_PENDING] = {
-  [LFSM_STATE_USER_RX_PENDING] = {
 			.entry_fn = go_user_rx_pending,
 			.next_state = {
 				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RX_ACTIVE,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
 			},
-  },
+		}, [LFSM_STATE_USER_TX_PENDING] = {
-  [LFSM_STATE_USER_TX_PENDING] = {
 			.entry_fn = go_user_tx_pending,
 			.next_state = {
 				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_TX_ACTIVE,
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_TX_ACTIVE,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_TX_ACTIVE,
 			},
-  },
+		}, [LFSM_STATE_USER_RXTX_PENDING] = {
-  [LFSM_STATE_USER_RXTX_PENDING] = {
 			.entry_fn = go_user_rxtx_pending,
 			.next_state = {
 				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RXTX_ACTIVE,
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RXTX_ACTIVE,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RXTX_ACTIVE,
 			},
-  },
+		}, [LFSM_STATE_USER_RX_ACTIVE] = {
-  [LFSM_STATE_USER_RX_ACTIVE] = {
 			.entry_fn = go_user_rx_active,
 			.next_state = {
 				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
 			},
-  },
+		}, [LFSM_STATE_USER_TX_ACTIVE] = {
-  [LFSM_STATE_USER_TX_ACTIVE] = {
 			.entry_fn = go_user_tx_active,
 			.next_state = {
 				[LFSM_EVENT_RX_LINK] = LFSM_STATE_INACTIVE,
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
 			},
-  },
+		}, [LFSM_STATE_USER_RXTX_ACTIVE] = {
-  [LFSM_STATE_USER_RXTX_ACTIVE] = {
 			.entry_fn = go_user_rxtx_active,
 			.next_state = {
 				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
 				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
 				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
 			},
-  },
+		}, };
-};
 
 /*
  * FSM State Entry Functions
  */
 
-static void go_faulted(struct lfsm_context * context)
+static void go_faulted(struct lfsm_context * context) {
-{
 	PIOS_DEBUG_Assert(0);
 }
 
-static void go_stopped(struct lfsm_context * context)
+static void go_stopped(struct lfsm_context * context) {
-{
 #if 0
 	PIOS_SPI_Stop(PIOS_SPI_OP);
 #endif
 }
 
-static void go_stopping(struct lfsm_context * context)
+static void go_stopping(struct lfsm_context * context) {
-{
 	context->link_tx = NULL;
 	context->tx = NULL;
 }
 
-static void go_inactive(struct lfsm_context * context)
+static void go_inactive(struct lfsm_context * context) {
-{
 	context->link_state = OPAHRS_MSG_LINK_STATE_INACTIVE;
 	lfsm_update_link_tx(context);
 
@@ -219,11 +200,11 @@ static void go_inactive(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_busy(struct lfsm_context * context)
+static void go_user_busy(struct lfsm_context * context) {
-{
 	/* Sanity checks */
 	PIOS_DEBUG_Assert(context->user_rx);
 
@@ -237,11 +218,11 @@ static void go_user_busy(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_busy_rx_pending(struct lfsm_context * context)
+static void go_user_busy_rx_pending(struct lfsm_context * context) {
-{
 	/* Sanity checks */
 	PIOS_DEBUG_Assert(context->user_rx);
 
@@ -252,11 +233,11 @@ static void go_user_busy_rx_pending(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_busy_tx_pending(struct lfsm_context * context)
+static void go_user_busy_tx_pending(struct lfsm_context * context) {
-{
 	/* Sanity checks */
 	PIOS_DEBUG_Assert(context->user_tx);
 
@@ -267,14 +248,13 @@ static void go_user_busy_tx_pending(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_busy_rxtx_pending(struct lfsm_context * context)
+static void go_user_busy_rxtx_pending(struct lfsm_context * context) {
-{
 	/* Sanity checks */
-  PIOS_DEBUG_Assert(context->user_rx);
+	PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
-  PIOS_DEBUG_Assert(context->user_tx);
 
 	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
 	lfsm_update_link_tx(context);
@@ -283,11 +263,11 @@ static void go_user_busy_rxtx_pending(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_rx_pending(struct lfsm_context * context)
+static void go_user_rx_pending(struct lfsm_context * context) {
-{
 	/* Sanity checks */
 	PIOS_DEBUG_Assert(context->user_rx);
 
@@ -298,11 +278,11 @@ static void go_user_rx_pending(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_tx_pending(struct lfsm_context * context)
+static void go_user_tx_pending(struct lfsm_context * context) {
-{
 	/* Sanity checks */
 	PIOS_DEBUG_Assert(context->user_tx);
 
@@ -313,14 +293,13 @@ static void go_user_tx_pending(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_rxtx_pending(struct lfsm_context * context)
+static void go_user_rxtx_pending(struct lfsm_context * context) {
-{
 	/* Sanity checks */
-  PIOS_DEBUG_Assert(context->user_rx);
+	PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
-  PIOS_DEBUG_Assert(context->user_tx);
 
 	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
 	lfsm_update_link_tx(context);
@@ -329,11 +308,11 @@ static void go_user_rxtx_pending(struct lfsm_context * context)
 	context->tx = context->link_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_rx_active(struct lfsm_context * context)
+static void go_user_rx_active(struct lfsm_context * context) {
-{
 	/* Sanity checks */
 	PIOS_DEBUG_Assert(context->user_rx);
 
@@ -343,11 +322,11 @@ static void go_user_rx_active(struct lfsm_context * context)
 
 	lfsm_update_link_tx(context);
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_tx_active(struct lfsm_context * context)
+static void go_user_tx_active(struct lfsm_context * context) {
-{
 	/* Sanity checks */
 	PIOS_DEBUG_Assert(context->user_tx);
 
@@ -356,21 +335,21 @@ static void go_user_tx_active(struct lfsm_context * context)
 	context->tx = context->user_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
-static void go_user_rxtx_active(struct lfsm_context * context)
+static void go_user_rxtx_active(struct lfsm_context * context) {
-{
 	/* Sanity checks */
-  PIOS_DEBUG_Assert(context->user_rx);
+	PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
-  PIOS_DEBUG_Assert(context->user_tx);
 
 	context->link_state = OPAHRS_MSG_LINK_STATE_READY;
 	context->rx = context->user_rx;
 	context->tx = context->user_tx;
 
 	lfsm_init_rx(context);
-  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
+	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
+			context->user_payload_len, lfsm_irq_callback);
 }
 
 /*
@@ -379,48 +358,48 @@ static void go_user_rxtx_active(struct lfsm_context * context)
  *
  */
 
-static void lfsm_update_link_tx_v0 (struct opahrs_msg_v0 * msg, enum opahrs_msg_link_state state, uint16_t errors)
+static void lfsm_update_link_tx_v0(struct opahrs_msg_v0 * msg,
-{
+		enum opahrs_msg_link_state state, uint16_t errors) {
 	opahrs_msg_v0_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
 
 	msg->payload.link.state = state;
 	msg->payload.link.errors = errors;
 }
 
-static void lfsm_update_link_tx_v1 (struct opahrs_msg_v1 * msg, enum opahrs_msg_link_state state, uint16_t errors)
+static void lfsm_update_link_tx_v1(struct opahrs_msg_v1 * msg,
-{
+		enum opahrs_msg_link_state state, uint16_t errors) {
 	opahrs_msg_v1_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
 
 	msg->payload.link.state = state;
 	msg->payload.link.errors = errors;
 }
 
-static void lfsm_update_link_tx (struct lfsm_context * context)
+static void lfsm_update_link_tx(struct lfsm_context * context) {
-{
 	PIOS_DEBUG_Assert(context->link_tx);
 
 	switch (context->user_payload_type) {
 	case OPAHRS_MSG_TYPE_USER_V0:
-    lfsm_update_link_tx_v0 ((struct opahrs_msg_v0 *)context->link_tx, context->link_state, context->errors);
+		lfsm_update_link_tx_v0((struct opahrs_msg_v0 *) context->link_tx,
+				context->link_state, context->errors);
 		break;
 	case OPAHRS_MSG_TYPE_USER_V1:
-    lfsm_update_link_tx_v1 ((struct opahrs_msg_v1 *)context->link_tx, context->link_state, context->errors);
+		lfsm_update_link_tx_v1((struct opahrs_msg_v1 *) context->link_tx,
+				context->link_state, context->errors);
 		break;
 	case OPAHRS_MSG_TYPE_LINK:
 		PIOS_DEBUG_Assert(0);
 	}
 }
 
-static void lfsm_init_rx (struct lfsm_context * context)
+static void lfsm_init_rx(struct lfsm_context * context) {
-{
 	PIOS_DEBUG_Assert(context->rx);
 
 	switch (context->user_payload_type) {
 	case OPAHRS_MSG_TYPE_USER_V0:
-    opahrs_msg_v0_init_rx ((struct opahrs_msg_v0 *)context->rx);
+		opahrs_msg_v0_init_rx((struct opahrs_msg_v0 *) context->rx);
 		break;
 	case OPAHRS_MSG_TYPE_USER_V1:
-    opahrs_msg_v1_init_rx ((struct opahrs_msg_v1 *)context->rx);
+		opahrs_msg_v1_init_rx((struct opahrs_msg_v1 *) context->rx);
 		break;
 	case OPAHRS_MSG_TYPE_LINK:
 		PIOS_DEBUG_Assert(0);
@@ -433,8 +412,7 @@ static void lfsm_init_rx (struct lfsm_context * context)
  *
  */
 
-void lfsm_inject_event(enum lfsm_event event)
+void lfsm_inject_event(enum lfsm_event event) {
-{
 	PIOS_IRQ_Disable();
 
 	/*
@@ -453,18 +431,17 @@ void lfsm_inject_event(enum lfsm_event event)
 	PIOS_IRQ_Enable();
 }
 
-void lfsm_init(void)
+void lfsm_init(void) {
-{
 	context.curr_state = LFSM_STATE_STOPPED;
 	go_stopped(&context);
 }
 
-void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v0 * link_rx)
+void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
-{
+		struct opahrs_msg_v0 * link_rx) {
 	PIOS_DEBUG_Assert(link_tx);
 
-  context.link_tx           = (uint8_t *)link_tx;
+	context.link_tx = (uint8_t *) link_tx;
-  context.link_rx           = (uint8_t *)link_rx;
+	context.link_rx = (uint8_t *) link_rx;
 	context.user_payload_type = OPAHRS_MSG_TYPE_USER_V0;
 	context.user_payload_len = sizeof(*link_tx);
 
@@ -473,12 +450,12 @@ void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v
 	lfsm_inject_event(LFSM_EVENT_INIT_LINK);
 }
 
-void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v1 * link_rx)
+void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
-{
+		struct opahrs_msg_v1 * link_rx) {
 	PIOS_DEBUG_Assert(link_tx);
 
-  context.link_tx           = (uint8_t *)link_tx;
+	context.link_tx = (uint8_t *) link_tx;
-  context.link_rx           = (uint8_t *)link_rx;
+	context.link_rx = (uint8_t *) link_rx;
 	context.user_payload_type = OPAHRS_MSG_TYPE_USER_V1;
 	context.user_payload_len = sizeof(*link_tx);
 
@@ -487,65 +464,54 @@ void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v
 	lfsm_inject_event(LFSM_EVENT_INIT_LINK);
 }
 
-void lfsm_user_set_tx_v0 (struct opahrs_msg_v0 * user_tx)
+void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx) {
-{
 	PIOS_DEBUG_Assert(user_tx);
 
 	PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
-  context.user_tx = (uint8_t *)user_tx;
+	context.user_tx = (uint8_t *) user_tx;
 
 	lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
 }
 
-void lfsm_user_set_rx_v0 (struct opahrs_msg_v0 * user_rx)
+void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx) {
-{
+	PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
-  PIOS_DEBUG_Assert(user_rx);
-  PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
 
-  context.user_rx = (uint8_t *)user_rx;
+	context.user_rx = (uint8_t *) user_rx;
 
 	lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
 }
 
-void lfsm_user_set_tx_v1 (struct opahrs_msg_v1 * user_tx)
+void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx) {
-{
+	PIOS_DEBUG_Assert(user_tx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
-  PIOS_DEBUG_Assert(user_tx);
-  PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
 
-  context.user_tx = (uint8_t *)user_tx;
+	context.user_tx = (uint8_t *) user_tx;
 
 	lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
 }
 
-void lfsm_user_set_rx_v1 (struct opahrs_msg_v1 * user_rx)
+void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx) {
-{
+	PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
-  PIOS_DEBUG_Assert(user_rx);
-  PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
 
-  context.user_rx = (uint8_t *)user_rx;
+	context.user_rx = (uint8_t *) user_rx;
 
 	lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
 }
 
-void lfsm_user_done (void)
+void lfsm_user_done(void) {
-{
 	lfsm_inject_event(LFSM_EVENT_USER_DONE);
 }
 
-void lfsm_stop (void)
+void lfsm_stop(void) {
-{
 	lfsm_inject_event(LFSM_EVENT_STOP);
 }
 
-void lfsm_get_link_stats (struct lfsm_link_stats * stats)
+void lfsm_get_link_stats(struct lfsm_link_stats * stats) {
-{
 	PIOS_DEBUG_Assert(stats);
 
 	*stats = context.stats;
 }
 
-enum lfsm_state lfsm_get_state (void)
+enum lfsm_state lfsm_get_state(void) {
-{
 	return context.curr_state;
 }
 
@@ -555,32 +521,31 @@ enum lfsm_state lfsm_get_state (void)
  *
  */
 
-void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val)
+void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val) {
-{
 	if (!crc_ok) {
 		context.stats.rx_badcrc++;
-    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
+		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
 		return;
 	}
 
 	if (!context.rx) {
 		/* No way to know what we just received, assume invalid */
-    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
+		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
 		return;
 	}
 
 	/* Recover the head and tail pointers from the message */
-  struct opahrs_msg_link_head * head=0;
+	struct opahrs_msg_link_head * head = 0;
-  struct opahrs_msg_link_tail * tail=0;
+	struct opahrs_msg_link_tail * tail = 0;
 
 	switch (context.user_payload_type) {
 	case OPAHRS_MSG_TYPE_USER_V0:
-    head = &((struct opahrs_msg_v0 *)context.rx)->head;
+		head = &((struct opahrs_msg_v0 *) context.rx)->head;
-    tail = &((struct opahrs_msg_v0 *)context.rx)->tail;
+		tail = &((struct opahrs_msg_v0 *) context.rx)->tail;
 		break;
 	case OPAHRS_MSG_TYPE_USER_V1:
-    head = &((struct opahrs_msg_v1 *)context.rx)->head;
+		head = &((struct opahrs_msg_v1 *) context.rx)->head;
-    tail = &((struct opahrs_msg_v1 *)context.rx)->tail;
+		tail = &((struct opahrs_msg_v1 *) context.rx)->tail;
 		break;
 	case OPAHRS_MSG_TYPE_LINK:
 		/* Should never be rx'ing before the link protocol version is known */
@@ -589,15 +554,15 @@ void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val)
 	}
 
 	/* Check for bad magic */
-  if ((head->magic != OPAHRS_MSG_MAGIC_HEAD) ||
+	if ((head->magic != OPAHRS_MSG_MAGIC_HEAD) || (tail->magic
-      (tail->magic != OPAHRS_MSG_MAGIC_TAIL)) {
+			!= OPAHRS_MSG_MAGIC_TAIL)) {
 		if (head->magic != OPAHRS_MSG_MAGIC_HEAD) {
 			context.stats.rx_badmagic_head++;
 		}
 		if (tail->magic != OPAHRS_MSG_MAGIC_TAIL) {
 			context.stats.rx_badmagic_tail++;
 		}
-    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
+		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
 		return;
 	}
 
@@ -605,22 +570,22 @@ void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val)
 	switch (head->type) {
 	case OPAHRS_MSG_TYPE_LINK:
 		context.stats.rx_link++;
-    lfsm_inject_event (LFSM_EVENT_RX_LINK);
+		lfsm_inject_event(LFSM_EVENT_RX_LINK);
 		break;
 	case OPAHRS_MSG_TYPE_USER_V0:
 	case OPAHRS_MSG_TYPE_USER_V1:
 		if (head->type == context.user_payload_type) {
 			context.stats.rx_user++;
-      lfsm_inject_event (LFSM_EVENT_RX_USER);
+			lfsm_inject_event(LFSM_EVENT_RX_USER);
 		} else {
 			/* Mismatched user payload type */
 			context.stats.rx_badver++;
-      lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
+			lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
 		}
 		break;
 	default:
 		/* Unidentifiable payload type */
 		context.stats.rx_badtype++;
-    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
+		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
 	}
 }

flight/Bootloaders/AHRS/inc/ahrs_bl.h

@@ -23,31 +23,30 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef AHRS_BL_H
 #define AHRS_BL_H
 
-
 /* PIOS Includes */
 #include <pios.h>
 
 /** Start programming
-returns: true if FLASH erased and ready to program
+ returns: true if FLASH erased and ready to program
-*/
+ */
-bool StartProgramming(void);
+bool
+StartProgramming(void);
 
 /** Write a block to FLASH
-buffer contains the data to be written
+ buffer contains the data to be written
-returns: true if FLASH programmed correctly
+ returns: true if FLASH programmed correctly
-*/
+ */
-bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
+bool
+WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
 
 /** Read a block from FLASH
-returns: true if FLASH read correctly.
+ returns: true if FLASH read correctly.
-Buffer is set to the read data
+ Buffer is set to the read data
-*/
+ */
-bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
+bool
-
+ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
-
 
 #endif /* AHRS_BL_H */

flight/Bootloaders/AHRS/inc/ahrs_spi_program.h

@@ -2,47 +2,53 @@
 #define AHRS_SPI_PROGRAM_H
 
 /* Special packets to enter programming mode.
-Note: these must both be SPI_PROGRAM_REQUEST_LENGTH long.
+ Note: these must both be SPI_PROGRAM_REQUEST_LENGTH long.
-Pad with spaces if needed.
+ Pad with spaces if needed.
-*/
+ */
 #define SPI_PROGRAM_REQUEST "AHRS START PROGRAMMING  "
 #define SPI_PROGRAM_ACK     "AHRS PROGRAMMING STARTED"
 #define SPI_PROGRAM_REQUEST_LENGTH 24
 
 /**Proposed programming protocol:
-In the master:
+ In the master:
-1) Send a AhrsProgramPacket containing the relevant data.
+ 1) Send a AhrsProgramPacket containing the relevant data.
-Note crc is a CRC32 as the CRC8 used in hardware can be fooled.
+ Note crc is a CRC32 as the CRC8 used in hardware can be fooled.
-2) Keep sending PROGRAM_NULL packets and wait for an ack.
+ 2) Keep sending PROGRAM_NULL packets and wait for an ack.
  Time out if we waited too long.
-3) Compare ack packet with transmitted packet. The data
+ 3) Compare ack packet with transmitted packet. The data
  should be the bitwise inverse of the data transmitted.
  packetId should correspond to the transmitted packet.
-4) repeat for next packet until finished
+ 4) repeat for next packet until finished
-5) Repeat using verify packets
+ 5) Repeat using verify packets
  Returned data should be exactly as read from memory
 
-In the slave:
+ In the slave:
-1) Wait for an AhrsProgramPacket
+ 1) Wait for an AhrsProgramPacket
-2) Check CRC then write to memory
+ 2) Check CRC then write to memory
-3) Bitwise invert data and add it to the return packet
+ 3) Bitwise invert data and add it to the return packet
-4) Copy packetId from received packet
+ 4) Copy packetId from received packet
-5) Transmit packet.
+ 5) Transmit packet.
-6) repeat until we receive a read packet
+ 6) repeat until we receive a read packet
-7) read memory as requested until we receive a reboot packet
+ 7) read memory as requested until we receive a reboot packet
-Reboot packets had better have some sort of magic number in the data,
+ Reboot packets had better have some sort of magic number in the data,
-just to be absolutely sure
+ just to be absolutely sure
 
-*/
+ */
 
-typedef enum { PROGRAM_NULL, PROGRAM_WRITE, PROGRAM_READ, PROGRAM_ACK, PROGRAM_REBOOT, PROGRAM_ERR} ProgramType;
+typedef enum {
+	PROGRAM_NULL,
+	PROGRAM_WRITE,
+	PROGRAM_READ,
+	PROGRAM_ACK,
+	PROGRAM_REBOOT,
+	PROGRAM_ERR
+} ProgramType;
 #define SPI_MAX_PROGRAM_DATA_SIZE (14 * 4)	//USB comms uses 14x 32 bit words
-
 #define REBOOT_CONFIRMATION "AHRS REBOOT"
 #define REBOOT_CONFIRMATION_LENGTH 11
 
 /** Proposed program packet defintion
-*/
+ */
 
 typedef struct {
 	ProgramType type;
@@ -54,6 +60,6 @@ typedef struct {
 	uint8_t dummy; //for some reason comms trashes the last byte sent
 } AhrsProgramPacket;
 
-uint32_t GenerateCRC (AhrsProgramPacket * packet);
+uint32_t GenerateCRC(AhrsProgramPacket * packet);
 
 #endif

flight/Bootloaders/AHRS/inc/ahrs_spi_program_master.h

@@ -27,34 +27,37 @@
 #ifndef AHRS_PROGRAM_MASTER_H
 #define AHRS_PROGRAM_MASTER_H
 
-typedef enum {PROGRAM_ERR_OK, //OK
+typedef enum {
+	PROGRAM_ERR_OK, //OK
 	PROGRAM_ERR_LINK, //comms error
-	PROGRAM_ERR_FUNCTION, //function failed
+	PROGRAM_ERR_FUNCTION,
+//function failed
 } PROGERR;
 
-
 /** Connect to AHRS and request programming mode
-* returns: false if failed.
+ * returns: false if failed.
-*/
+ */
 bool AhrsProgramConnect(uint32_t spi_id);
 
 /** Write data to AHRS
-* size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
+ * size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
-* returns: error status
+ * returns: error status
-*/
+ */
 
-PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data, uint32_t size);
+PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
+		uint32_t size);
 
 /** Read data from AHRS
-* size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
+ * size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
-* returns: error status
+ * returns: error status
-*/
+ */
 
-PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data, uint32_t size);
+PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
+		uint32_t size);
 
 /** reboot AHRS
-* returns: error status
+ * returns: error status
-*/
+ */
 
 PROGERR AhrsProgramReboot(uint32_t spi_id);
 

flight/Bootloaders/AHRS/inc/ahrs_spi_program_slave.h

@@ -24,12 +24,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
- #ifndef AHRS_SPI_PROGRAM_SLAVE_H
+#ifndef AHRS_SPI_PROGRAM_SLAVE_H
 #define AHRS_SPI_PROGRAM_SLAVE_H
 
 /** Check if OpenPilot is trying to program AHRS
-* If so, it will program the FLASH then return
+ * If so, it will program the FLASH then return
-* If not it just returns.
+ * If not it just returns.
-*/
+ */
 void AhrsProgramReceive(uint32_t spi_id);
 #endif //AHRS_PROGRAM_SLAVE_H

flight/Bootloaders/AHRS/inc/bl_fsm.h

@@ -1,4 +1,4 @@
- /**
+/**
  ******************************************************************************
  *
  * @file       ahrs_fsm.h
@@ -23,7 +23,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef BL_FSM_H
 #define BL_FSM_H
 
@@ -45,7 +44,8 @@ enum lfsm_state {
 	LFSM_STATE_USER_TX_ACTIVE,
 	LFSM_STATE_USER_RXTX_ACTIVE,
 
-  LFSM_STATE_NUM_STATES		/* Must be last */
+	LFSM_STATE_NUM_STATES
+/* Must be last */
 };
 
 enum lfsm_event {
@@ -58,7 +58,8 @@ enum lfsm_event {
 	LFSM_EVENT_RX_USER,
 	LFSM_EVENT_RX_UNKNOWN,
 
-  LFSM_EVENT_NUM_EVENTS		/* Must be last */
+	LFSM_EVENT_NUM_EVENTS
+/* Must be last */
 };
 
 struct lfsm_link_stats {
@@ -78,17 +79,19 @@ extern void lfsm_inject_event(enum lfsm_event event);
 
 extern void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val);
 
-extern void lfsm_get_link_stats (struct lfsm_link_stats * stats);
+extern void lfsm_get_link_stats(struct lfsm_link_stats * stats);
-extern enum lfsm_state lfsm_get_state (void);
+extern enum lfsm_state lfsm_get_state(void);
 
-extern void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v0 * link_rx);
+extern void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
-extern void lfsm_user_set_rx_v0 (struct opahrs_msg_v0 * user_rx);
+		struct opahrs_msg_v0 * link_rx);
-extern void lfsm_user_set_tx_v0 (struct opahrs_msg_v0 * user_tx);
+extern void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx);
+extern void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx);
 
-extern void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v1 * link_rx);
+extern void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
-extern void lfsm_user_set_rx_v1 (struct opahrs_msg_v1 * user_rx);
+		struct opahrs_msg_v1 * link_rx);
-extern void lfsm_user_set_tx_v1 (struct opahrs_msg_v1 * user_tx);
+extern void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx);
+extern void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx);
 
-extern void lfsm_user_done (void);
+extern void lfsm_user_done(void);
 
 #endif	/* BL_FSM_H */

flight/Bootloaders/AHRS/inc/pios_config.h

@@ -24,7 +24,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 

flight/Bootloaders/AHRS/main.c

@@ -89,8 +89,7 @@ int main() {
 	if (GO_dfu == FALSE) {
 		jump_to_app();
 	}
-	if(PIOS_IAP_CheckRequest())
+	if (PIOS_IAP_CheckRequest()) {
-	{
 		PIOS_DELAY_WaitmS(1000);
 		PIOS_IAP_ClearRequest();
 	}
@@ -160,7 +159,8 @@ void process_spi_request(void) {
 		//PIOS_LED_On(LED1);
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
 		user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
-		user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8) | BOARD_REVISION;
+		user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8)
+				| BOARD_REVISION;
 		user_tx_v0.payload.user.v.rsp.versions.fw_crc = Fw_crc;
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
@@ -213,10 +213,10 @@ void process_spi_request(void) {
 		break;
 	case OPAHRS_MSG_V0_REQ_FWDN_DATA:
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWDN_DATA);
-			uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress;
+		uint32_t adr = user_rx_v0.payload.user.v.req.fwdn_data.adress;
-			for(uint8_t x=0;x<4;++x)
+		for (uint8_t x = 0; x < 4; ++x) {
-			{
+			user_tx_v0.payload.user.v.rsp.fw_dn.data[x]
-				user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*PIOS_BL_HELPER_FLASH_If_Read(adr+x);
+					= *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
 		}
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;

flight/Bootloaders/AHRS/pios_board.c

@@ -29,7 +29,6 @@
 
 #include <pios_spi_priv.h>
 
-
 /* OP Interface
  * 
  * NOTE: Leave this declared as const data so that it ends up in the 
@@ -38,7 +37,8 @@
 void PIOS_SPI_op_irq_handler(void);
 void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
 void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
-static const struct pios_spi_cfg pios_spi_op_cfg = {
+static const struct pios_spi_cfg
+		pios_spi_op_cfg = {
 				.regs = SPI2,
 				.init = {
 					.SPI_Mode = SPI_Mode_Slave,
@@ -93,44 +93,38 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
 							.DMA_M2M = DMA_M2M_Disable,
 						},
 					},
-  },
+				}, .ssel = {
-  .ssel = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_12,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
 					},
-  },
+				}, .sclk = {
-  .sclk = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_13,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
 					},
-  },
+				}, .miso = {
-  .miso = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_14,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_AF_PP,
 					},
-  },
+				}, .mosi = {
-  .mosi = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_15,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
 					},
-  },
+				}, };
-};
 
 uint32_t pios_spi_op_id;
-void PIOS_SPI_op_irq_handler(void)
+void PIOS_SPI_op_irq_handler(void) {
-{
 	/* Call into the generic code to handle the IRQ for this specific device */
 	PIOS_SPI_IRQ_Handler(pios_spi_op_id);
 }
@@ -139,8 +133,7 @@ void PIOS_SPI_op_irq_handler(void)
 
 #include "bl_fsm.h"		/* lfsm_* */
 
-void PIOS_Board_Init()
+void PIOS_Board_Init() {
-{
 	/* Set up the SPI interface to the OP board */
 	if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
 		PIOS_DEBUG_Assert(0);

flight/Bootloaders/CopterControl/Makefile

@@ -112,7 +112,7 @@ DOXYGENDIR = ../Doc/Doxygen
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/op_dfu.c
-SRC += $(OPSYSTEM)/stopwatch.c
+SRC += $(FLIGHTLIB)/stopwatch.c
 
 
 ## PIOS Hardware (STM32F10x)
@@ -121,35 +121,21 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
 SRC += $(PIOSSTM32F10X)/pios_usart.c
 SRC += $(PIOSSTM32F10X)/pios_irq.c
-#SRC += $(PIOSSTM32F10X)/pios_adc.c
-#SRC += $(PIOSSTM32F10X)/pios_servo.c
-#SRC += $(PIOSSTM32F10X)/pios_i2c.c
-#SRC += $(PIOSSTM32F10X)/pios_spi.c
-#SRC += $(PIOSSTM32F10X)/pios_ppm.c
-#SRC += $(PIOSSTM32F10X)/pios_pwm.c
-#SRC += $(PIOSSTM32F10X)/pios_spektrum.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
-#SRC += $(PIOSSTM32F10X)/pios_exti.c
-#SRC += $(PIOSSTM32F10X)/pios_wdg.c
 
 
 # PIOS USB related files (seperated to make code maintenance more easy)
 SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
-#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
-#SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
-#SRC += $(PIOSCOMMON)/pios_bmp085.c
-#SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_iap.c
-#SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 
 ## Libraries for flight calculations
@@ -160,22 +146,18 @@ SRC += $(CMSISDIR)/core_cm3.c
 SRC += $(CMSISDIR)/system_stm32f10x.c
 
 ## Used parts of the STM-Library
-#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
 SRC += $(STMSPDSRCDIR)/misc.c
 

flight/Bootloaders/CopterControl/inc/common.h

@@ -51,7 +51,8 @@ typedef enum {
 	uploadingStarting, //9
 	outsideDevCapabilities, //10
 	CRC_Fail,//11
-	failed_jump,//12
+	failed_jump,
+//12
 } DFUStates;
 /**************************************************/
 /* OP_DFU commands                       */
@@ -74,9 +75,8 @@ typedef enum {
 } DFUCommands;
 
 typedef enum {
-	High_Density,
+	High_Density, Medium_Density
-	Medium_Density
+} DeviceType;
-}DeviceType;
 /**************************************************/
 /* OP_DFU transfer types                       */
 /**************************************************/

flight/Bootloaders/CopterControl/inc/op_dfu.h

@@ -1,4 +1,4 @@
- /**
+/**
  ******************************************************************************
  *
  * @file       op_dfu.h
@@ -29,8 +29,7 @@
 #include "common.h"
 /* Includes ------------------------------------------------------------------*/
 /* Exported types ------------------------------------------------------------*/
-typedef struct
+typedef struct {
-{
 	uint8_t programmingType;
 	uint8_t readWriteFlags;
 	uint32_t startOfUserCode;
@@ -40,7 +39,7 @@ typedef struct
 	uint16_t devID;
 	DeviceType devType;
 	uint32_t FW_Crc;
-}Device;
+} Device;
 
 /* Exported constants --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/

flight/Bootloaders/CopterControl/inc/pios_config.h

@@ -28,7 +28,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER

flight/Bootloaders/CopterControl/inc/pios_usb.h

@@ -69,8 +69,8 @@
 #define PIOS_USB_ENDP1_RXADDR		0x100
 
 /* Global Variables */
-extern void (*pEpInt_IN[7]) (void);
+extern void (*pEpInt_IN[7])(void);
-extern void (*pEpInt_OUT[7]) (void);
+extern void (*pEpInt_OUT[7])(void);
 
 /* Public Functions */
 extern int32_t PIOS_USB_Init(uint32_t mode);

flight/Bootloaders/CopterControl/main.c

@@ -53,12 +53,11 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 
 
 ////////////////////////////////////////
-uint8_t tempcount=0;
+uint8_t tempcount = 0;
-
 
 /* Extern variables ----------------------------------------------------------*/
 DFUStates DeviceState;
-int16_t status=0;
+int16_t status = 0;
 uint8_t JumpToApp = FALSE;
 uint8_t GO_dfu = FALSE;
 uint8_t USB_connected = FALSE;
@@ -70,13 +69,8 @@ uint8_t processRX();
 void jump_to_app();
 
 #define BLUE LED1
-// #define RED	LED4
 #define LED_PWM_TIMER	TIM1
 int main() {
-	/* NOTE: Do NOT modify the following start-up sequence */
-	/* Any new initialization functions should be added in OpenPilotInit() */
-
-	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();
 	if (BSL_HOLD_STATE == 0)
 		USB_connected = TRUE;
@@ -94,11 +88,11 @@ int main() {
 
 	if (GO_dfu == TRUE) {
 		PIOS_Board_Init();
-		if(User_DFU_request == TRUE)
+		if (User_DFU_request == TRUE)
 			DeviceState = DFUidle;
 		else
 			DeviceState = BLidle;
-		STOPWATCH_Init(100,LED_PWM_TIMER);
+		STOPWATCH_Init(100, LED_PWM_TIMER);
 	} else
 		JumpToApp = TRUE;
 
@@ -107,8 +101,6 @@ int main() {
 	while (TRUE) {
 		if (JumpToApp == TRUE)
 			jump_to_app();
-		//pwm_period = 50; // *100 uS -> 5 mS
-		//pwm_sweep_steps =100; // * 5 mS -> 500 mS
 
 		switch (DeviceState) {
 		case Last_operation_Success:
@@ -161,7 +153,8 @@ int main() {
 
 		if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
 			STOPWATCH_Reset(LED_PWM_TIMER);
-		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle))
+		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
+				== BLidle))
 			JumpToApp = TRUE;
 
 		processRX();
@@ -178,7 +171,6 @@ void jump_to_app() {
 		RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
-
 		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */

flight/Bootloaders/CopterControl/op_dfu.c

@@ -1,6 +1,6 @@
 /**
  ******************************************************************************
-* @addtogroup CopterControlBL CopterControl BootLoader
+ * @addtogroup CopterControlBL CopterControl BootLoader
  * @brief These files contain the code to the CopterControl Bootloader.
  *
  * @{
@@ -70,7 +70,7 @@ extern DFUStates DeviceState;
 extern uint8_t JumpToApp;
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf,uint16_t size);
+void sendData(uint8_t * buf, uint16_t size);
 uint32_t CalcFirmCRC(void);
 
 void DataDownload(DownloadAction action) {
@@ -93,8 +93,8 @@ void DataDownload(DownloadAction action) {
 		for (uint8_t x = 0; x < packetSize; ++x) {
 			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
 			offset = baseOfAdressType(downType) + partoffset;
-			if(!flash_read(SendBuffer+(6+x*4),offset,currentProgrammingDestination))
+			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-			{
+					currentProgrammingDestination)) {
 				DeviceState = Last_operation_failed;
 			}
 		}
@@ -103,14 +103,14 @@ void DataDownload(DownloadAction action) {
 			DeviceState = Last_operation_Success;
 			Aditionals = (uint32_t) Download;
 		}
-		sendData(SendBuffer+1,63);
+		sendData(SendBuffer + 1, 63);
 	}
 }
 void processComand(uint8_t *xReceive_Buffer) {
 
 	Command = xReceive_Buffer[COMMAND];
 #ifdef DEBUG_SSP
-	char str[63]={0};
+	char str[63]= {0};
 	sprintf(str,"Received COMMAND:%d|",Command);
 	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
@@ -139,7 +139,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 	case EnterDFU:
 		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
 				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)//PORQUE???
+			if (Data0 > 0)
 				OPDfuIni(TRUE);
 			DeviceState = DFUidle;
 			currentProgrammingDestination = devicesTable[Data0].programmingType;
@@ -196,7 +196,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 						}
 					}
 					if (result != 1) {
-						DeviceState = Last_operation_failed;//ok
+						DeviceState = Last_operation_failed;
 						Aditionals = (uint32_t) Command;
 					} else {
 
@@ -287,7 +287,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
 			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
 			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID>>8;
+			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
 			Buffer[15] = devicesTable[Data0 - 1].devID;
 		}
 		sendData(Buffer + 1, 63);
@@ -438,10 +438,9 @@ uint32_t CalcFirmCRC() {
 	}
 
 }
-void sendData(uint8_t * buf,uint16_t size)
+void sendData(uint8_t * buf, uint16_t size) {
-{
 	PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
-	if(DeviceState == downloading)
+	if (DeviceState == downloading)
 		PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid
 }
 

flight/Bootloaders/OpenPilot/Makefile

@@ -112,7 +112,7 @@ DOXYGENDIR = ../Doc/Doxygen
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/op_dfu.c
-SRC += $(OPSYSTEM)/stopwatch.c
+SRC += $(FLIGHTLIB)/stopwatch.c
 SRC += $(OPSYSTEM)/ssp.c
 
 
@@ -122,31 +122,19 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
 SRC += $(PIOSSTM32F10X)/pios_usart.c
 SRC += $(PIOSSTM32F10X)/pios_irq.c
-#SRC += $(PIOSSTM32F10X)/pios_adc.c
-#SRC += $(PIOSSTM32F10X)/pios_servo.c
-#SRC += $(PIOSSTM32F10X)/pios_i2c.c
 SRC += $(PIOSSTM32F10X)/pios_spi.c
-#SRC += $(PIOSSTM32F10X)/pios_ppm.c
-#SRC += $(PIOSSTM32F10X)/pios_pwm.c
-#SRC += $(PIOSSTM32F10X)/pios_spektrum.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
-#SRC += $(PIOSSTM32F10X)/pios_exti.c
-#SRC += $(PIOSSTM32F10X)/pios_wdg.c
-
 
 # PIOS USB related files (seperated to make code maintenance more easy)
 SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
-#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
-#SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
-#SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_iap.c
@@ -161,22 +149,18 @@ SRC += $(CMSISDIR)/core_cm3.c
 SRC += $(CMSISDIR)/system_stm32f10x.c
 
 ## Used parts of the STM-Library
-#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
 SRC += $(STMSPDSRCDIR)/misc.c
 

flight/Bootloaders/OpenPilot/inc/common.h

@@ -51,7 +51,8 @@ typedef enum {
 	uploadingStarting, //9
 	outsideDevCapabilities, //10
 	CRC_Fail,//11
-	failed_jump,//12
+	failed_jump,
+//12
 } DFUStates;
 /**************************************************/
 /* OP_DFU commands                       */
@@ -74,9 +75,8 @@ typedef enum {
 } DFUCommands;
 
 typedef enum {
-	High_Density,
+	High_Density, Medium_Density
-	Medium_Density
+} DeviceType;
-}DeviceType;
 /**************************************************/
 /* OP_DFU transfer types                       */
 /**************************************************/

flight/Bootloaders/OpenPilot/inc/op_dfu.h

@@ -1,4 +1,4 @@
- /**
+/**
  ******************************************************************************
  *
  * @file       op_dfu.h
@@ -29,8 +29,7 @@
 #include "common.h"
 /* Includes ------------------------------------------------------------------*/
 /* Exported types ------------------------------------------------------------*/
-typedef struct
+typedef struct {
-{
 	uint8_t programmingType;
 	uint8_t readWriteFlags;
 	uint32_t startOfUserCode;
@@ -40,7 +39,7 @@ typedef struct
 	uint16_t devID;
 	DeviceType devType;
 	uint32_t FW_Crc;
-}Device;
+} Device;
 
 /* Exported constants --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/

flight/Bootloaders/OpenPilot/inc/pios_config.h

@@ -27,7 +27,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER

flight/Bootloaders/OpenPilot/inc/pios_usb.h

@@ -69,8 +69,8 @@
 #define PIOS_USB_ENDP1_RXADDR		0x100
 
 /* Global Variables */
-extern void (*pEpInt_IN[7]) (void);
+extern void (*pEpInt_IN[7])(void);
-extern void (*pEpInt_OUT[7]) (void);
+extern void (*pEpInt_OUT[7])(void);
 
 /* Public Functions */
 extern int32_t PIOS_USB_Init(uint32_t mode);

flight/Bootloaders/OpenPilot/inc/ssp.h

@@ -45,12 +45,10 @@ typedef enum decodeState_ {
 } DecodeState_t;
 
 typedef enum ReceiveState {
-	state_escaped_e = 0,
+	state_escaped_e = 0, state_unescaped_e
-	state_unescaped_e
 } ReceiveState_t;
 
-typedef struct
+typedef struct {
-{
 	uint8_t *pbuff;
 	uint16_t length;
 	uint16_t crc;
@@ -65,16 +63,16 @@ typedef struct {
 	uint16_t txBufSize; // CRC for data in Packet buff
 	uint16_t max_retry; // Maximum number of retrys for a single transmit.
 	int32_t timeoutLen; //  how long to wait for each retry to succeed
-	void		(*pfCallBack)( uint8_t *, uint16_t);	// call back function that is called when a full packet has been received
+	void (*pfCallBack)(uint8_t *, uint16_t); // call back function that is called when a full packet has been received
 	int16_t (*pfSerialRead)(void); // function to call to read a byte from serial hardware
-	void		(*pfSerialWrite)( uint8_t );			// function used to write a byte to serial hardware for transmission
+	void (*pfSerialWrite)( uint8_t); // function used to write a byte to serial hardware for transmission
 	uint32_t (*pfGetTime)(void); // function returns time in number of seconds that has elapsed from a given reference point
 } PortConfig_t;
 
 typedef struct Port_tag {
-	void		(*pfCallBack)( uint8_t *, uint16_t);	// call back function that is called when a full packet has been received
+	void (*pfCallBack)(uint8_t *, uint16_t); // call back function that is called when a full packet has been received
 	int16_t (*pfSerialRead)(void); // function to read a character from the serial input stream
-	void		(*pfSerialWrite)( uint8_t );	// function to write a byte to be sent out the serial port
+	void (*pfSerialWrite)( uint8_t); // function to write a byte to be sent out the serial port
 	uint32_t (*pfGetTime)(void); // function returns time in number of seconds that has elapsed from a given reference point
 	uint8_t retryCount; // how many times have we tried to transmit the 'send' packet
 	uint8_t maxRetryCount; // max. times to try to transmit the 'send' packet
@@ -102,19 +100,17 @@ typedef struct Port_tag {
 	uint16_t flags;
 } Port_t;
 
-
-
 /** Public Data **/
 
 /** PUBLIC FUNCTIONS **/
-int16_t     ssp_ReceiveProcess( Port_t *thisport );
+int16_t ssp_ReceiveProcess(Port_t *thisport);
-int16_t 	ssp_SendProcess( Port_t *thisport );
+int16_t ssp_SendProcess(Port_t *thisport);
-uint16_t    ssp_SendString( Port_t *thisport, char *str );
+uint16_t ssp_SendString(Port_t *thisport, char *str);
-int16_t     ssp_SendData(Port_t *thisport, const uint8_t * data,const uint16_t length );
+int16_t ssp_SendData(Port_t *thisport, const uint8_t * data,
-void        ssp_Init( Port_t *thisport, const PortConfig_t* const info);
+		const uint16_t length);
-int16_t		ssp_ReceiveByte(Port_t *thisport );
+void ssp_Init(Port_t *thisport, const PortConfig_t* const info);
-uint16_t 	ssp_Synchronise( Port_t *thisport );
+int16_t ssp_ReceiveByte(Port_t *thisport);
-
+uint16_t ssp_Synchronise(Port_t *thisport);
 
 /** EXTERNAL FUNCTIONS **/
 

flight/Bootloaders/OpenPilot/inc/stopwatch.h

@@ -1,55 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotBL OpenPilot BootLoader
- * @{
- *
- * @file       stopwatch.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Timer functions for the LED PWM.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef _STOPWATCH_H
-#define _STOPWATCH_H
-
-/////////////////////////////////////////////////////////////////////////////
-// Global definitions
-/////////////////////////////////////////////////////////////////////////////
-
-
-/////////////////////////////////////////////////////////////////////////////
-// Global Types
-/////////////////////////////////////////////////////////////////////////////
-
-
-/////////////////////////////////////////////////////////////////////////////
-// Prototypes
-/////////////////////////////////////////////////////////////////////////////
-
-extern s32 STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM);
-extern s32 STOPWATCH_Reset(TIM_TypeDef* TIM);
-extern u32 STOPWATCH_ValueGet(TIM_TypeDef* TIM);
-
-
-/////////////////////////////////////////////////////////////////////////////
-// Export global variables
-/////////////////////////////////////////////////////////////////////////////
-
-
-#endif /* _STOPWATCH_H */

flight/Bootloaders/OpenPilot/main.c

@@ -55,17 +55,17 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 
 
 ////////////////////////////////////////
-uint8_t tempcount=0;
+uint8_t tempcount = 0;
-
 
 /// SSP SECTION
 /// SSP TIME SOURCE
 #define SSP_TIMER	TIM7
-uint32_t ssp_time=0;
+uint32_t ssp_time = 0;
 #define MAX_PACKET_DATA_LEN	255
 #define MAX_PACKET_BUF_SIZE	(1+1+MAX_PACKET_DATA_LEN+2)
 #define UART_BUFFER_SIZE 1024
-uint8_t rx_buffer[UART_BUFFER_SIZE] __attribute__ ((aligned(4)));    // align to 32-bit to try and provide speed improvement;
+uint8_t rx_buffer[UART_BUFFER_SIZE] __attribute__ ((aligned(4)));
+// align to 32-bit to try and provide speed improvement;
 // master buffers...
 uint8_t SSP_TxBuf[MAX_PACKET_BUF_SIZE];
 uint8_t SSP_RxBuf[MAX_PACKET_BUF_SIZE];
@@ -84,7 +84,7 @@ t_fifo_buffer ssp_buffer;
 /* Extern variables ----------------------------------------------------------*/
 DFUStates DeviceState;
 DFUPort ProgPort;
-int16_t status=0;
+int16_t status = 0;
 uint8_t JumpToApp = FALSE;
 uint8_t GO_dfu = FALSE;
 uint8_t USB_connected = FALSE;
@@ -125,14 +125,14 @@ int main() {
 		else
 			ProgPort = Serial;
 		PIOS_Board_Init();
-		if(User_DFU_request == TRUE)
+		if (User_DFU_request == TRUE)
 			DeviceState = DFUidle;
 		else
 			DeviceState = BLidle;
-		STOPWATCH_Init(100,LED_PWM_TIMER);
+		STOPWATCH_Init(100, LED_PWM_TIMER);
 		if (ProgPort == Serial) {
-			fifoBuf_init(&ssp_buffer,rx_buffer,UART_BUFFER_SIZE);
+			fifoBuf_init(&ssp_buffer, rx_buffer, UART_BUFFER_SIZE);
-			STOPWATCH_Init(100,SSP_TIMER);//nao devia ser 1000?
+			STOPWATCH_Init(100, SSP_TIMER);//nao devia ser 1000?
 			STOPWATCH_Reset(SSP_TIMER);
 			ssp_Init(&ssp_port, &SSP_PortConfig);
 		}
@@ -144,10 +144,10 @@ int main() {
 	while (TRUE) {
 		if (ProgPort == Serial) {
 			ssp_ReceiveProcess(&ssp_port);
-			status=ssp_SendProcess(&ssp_port);
+			status = ssp_SendProcess(&ssp_port);
-			while((status!=SSP_TX_IDLE) && (status!=SSP_TX_ACKED)){
+			while ((status != SSP_TX_IDLE) && (status != SSP_TX_ACKED)) {
 				ssp_ReceiveProcess(&ssp_port);
-				status=ssp_SendProcess(&ssp_port);
+				status = ssp_SendProcess(&ssp_port);
 			}
 		}
 		if (JumpToApp == TRUE)
@@ -206,7 +206,8 @@ int main() {
 
 		if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
 			STOPWATCH_Reset(LED_PWM_TIMER);
-		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle))
+		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
+				== BLidle))
 			JumpToApp = TRUE;
 
 		processRX();
@@ -272,17 +273,15 @@ uint32_t sspTimeSource() {
 }
 void SSP_CallBack(uint8_t *buf, uint16_t len) {
 	fifoBuf_putData(&ssp_buffer, buf, len);
-	}
+}
 int16_t SSP_SerialRead(void) {
-	if(PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF)>0)
+	if (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF) > 0) {
-	{
 		return PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF);
-	}
+	} else
-	else
 		return -1;
 }
 void SSP_SerialWrite(uint8_t value) {
-	PIOS_COM_SendChar(PIOS_COM_TELEM_RF,value);
+	PIOS_COM_SendChar(PIOS_COM_TELEM_RF, value);
 }
 uint32_t SSP_GetTime(void) {
 	return sspTimeSource();

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -78,7 +78,7 @@ extern Port_t ssp_port;
 extern DFUPort ProgPort;
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf,uint16_t size);
+void sendData(uint8_t * buf, uint16_t size);
 uint32_t CalcFirmCRC(void);
 
 void DataDownload(DownloadAction action) {
@@ -101,8 +101,8 @@ void DataDownload(DownloadAction action) {
 		for (uint8_t x = 0; x < packetSize; ++x) {
 			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
 			offset = baseOfAdressType(downType) + partoffset;
-			if(!flash_read(SendBuffer+(6+x*4),offset,currentProgrammingDestination))
+			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-			{
+					currentProgrammingDestination)) {
 				DeviceState = Last_operation_failed;
 			}
 		}
@@ -111,14 +111,14 @@ void DataDownload(DownloadAction action) {
 			DeviceState = Last_operation_Success;
 			Aditionals = (uint32_t) Download;
 		}
-		sendData(SendBuffer+1,63);
+		sendData(SendBuffer + 1, 63);
 	}
 }
 void processComand(uint8_t *xReceive_Buffer) {
 
 	Command = xReceive_Buffer[COMMAND];
 #ifdef DEBUG_SSP
-	char str[63]={0};
+	char str[63]= {0};
 	sprintf(str,"Received COMMAND:%d|",Command);
 	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
@@ -339,7 +339,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
 			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
 			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID>>8;
+			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
 			Buffer[15] = devicesTable[Data0 - 1].devID;
 		}
 		sendData(Buffer + 1, 63);
@@ -545,12 +545,11 @@ uint32_t CalcFirmCRC() {
 	}
 
 }
-void sendData(uint8_t * buf,uint16_t size)
+void sendData(uint8_t * buf, uint16_t size) {
-{
+	if (ProgPort == Usb) {
-if (ProgPort == Usb) {
 
 		PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
-			if(DeviceState == downloading)
+		if (DeviceState == downloading)
 			PIOS_DELAY_WaitmS(10);
 
 	} else if (ProgPort == Serial) {

flight/Bootloaders/OpenPilot/pios_board.c

@@ -41,7 +41,8 @@
 void PIOS_SPI_ahrs_irq_handler(void);
 void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
 void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
-const struct pios_spi_cfg pios_spi_ahrs_cfg = {
+const struct pios_spi_cfg
+		pios_spi_ahrs_cfg = {
 				.regs = SPI2,
 				.init = {
 					.SPI_Mode = SPI_Mode_Master,
@@ -97,51 +98,44 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
 							.DMA_M2M = DMA_M2M_Disable,
 						},
 					},
-  },
+				}, .ssel = {
-  .ssel = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_12,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_Out_PP,
 					},
-  },
+				}, .sclk = {
-  .sclk = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_13,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_AF_PP,
 					},
-  },
+				}, .miso = {
-  .miso = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_14,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
 					},
-  },
+				}, .mosi = {
-  .mosi = {
 					.gpio = GPIOB,
 					.init = {
 						.GPIO_Pin = GPIO_Pin_15,
 						.GPIO_Speed = GPIO_Speed_50MHz,
 						.GPIO_Mode = GPIO_Mode_AF_PP,
 					},
-  },
+				}, };
-};
 
 uint32_t pios_spi_ahrs_id;
-void PIOS_SPI_ahrs_irq_handler(void)
+void PIOS_SPI_ahrs_irq_handler(void) {
-{
 	/* Call into the generic code to handle the IRQ for this specific device */
 	PIOS_SPI_IRQ_Handler(pios_spi_ahrs_id);
 }
 
 #endif	/* PIOS_INCLUDE_SPI */
 
-
 #if defined(PIOS_INCLUDE_USART)
 
 #include "pios_usart_priv.h"
@@ -151,21 +145,18 @@ void PIOS_SPI_ahrs_irq_handler(void)
  */
 void PIOS_USART_telem_irq_handler(void);
 void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
-const struct pios_usart_cfg pios_usart_telem_cfg = {
+const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
-  .regs  = USART2,
+#if defined (PIOS_COM_TELEM_BAUDRATE)
-  .init = {
-    #if defined (PIOS_COM_TELEM_BAUDRATE)
 		.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
-    #else
+#else
 		.USART_BaudRate = 57600,
-    #endif
+#endif
 		.USART_WordLength = USART_WordLength_8b,
 		.USART_Parity = USART_Parity_No,
 		.USART_StopBits = USART_StopBits_1,
 		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
 		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
-  },
+	}, .irq = {
-  .irq = {
 		.handler = PIOS_USART_telem_irq_handler,
 		.init = {
 			.NVIC_IRQChannel = USART2_IRQn,
@@ -173,28 +164,24 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
 			.NVIC_IRQChannelSubPriority = 0,
 			.NVIC_IRQChannelCmd = ENABLE,
 		},
-  },
+	}, .rx = {
-  .rx   = {
 		.gpio = GPIOA,
 		.init = {
 			.GPIO_Pin = GPIO_Pin_3,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode = GPIO_Mode_IPU,
 		},
-  },
+	}, .tx = {
-  .tx   = {
 		.gpio = GPIOA,
 		.init = {
 			.GPIO_Pin = GPIO_Pin_2,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode = GPIO_Mode_AF_PP,
 		},
-  },
+	}, };
-};
 
 static uint32_t pios_usart_telem_rf_id;
-void PIOS_USART_telem_irq_handler(void)
+void PIOS_USART_telem_irq_handler(void) {
-{
 	PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
 }
 
@@ -220,7 +207,6 @@ uint32_t pios_com_telem_usb_id;
  */
 void PIOS_Board_Init(void) {
 
-
 	/* Enable Prefetch Buffer */
 	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
 
@@ -235,7 +221,8 @@ void PIOS_Board_Init(void) {
 	if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
-	if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
+	if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
+			pios_usart_telem_rf_id)) {
 		PIOS_DEBUG_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */

flight/Bootloaders/OpenPilot/ssp.c

@@ -1,71 +1,71 @@
 /***********************************************************************************************************
-*
+ *
-*  NAME:          ssp.c
+ *  NAME:          ssp.c
-*  DESCRIPTION:   simple serial protocol - packet based serial transport layer.
+ *  DESCRIPTION:   simple serial protocol - packet based serial transport layer.
-*  AUTHOR:        Joe Hlebasko
+ *  AUTHOR:        Joe Hlebasko
-*  HISTORY:       Created 1/1/2010
+ *  HISTORY:       Created 1/1/2010
-*
+ *
-* Packet Formats
+ * Packet Formats
-*   Format:
+ *   Format:
-*    +------+----+------+---------------------------+--------+
+ *    +------+----+------+---------------------------+--------+
-*    | 225  | L1 | S#   | App Data (0-254 bytes)    | CRC 16 |
+ *    | 225  | L1 | S#   | App Data (0-254 bytes)    | CRC 16 |
-*    +------+----+------+---------------------------+--------+
+ *    +------+----+------+---------------------------+--------+
-*
+ *
-* 225 = sync byte, indicates start of a packet
+ * 225 = sync byte, indicates start of a packet
-* L1 = 1 byte for size of data payload. (sequence number is part of data payload.)
+ * L1 = 1 byte for size of data payload. (sequence number is part of data payload.)
-* S# = 1 byte for sequence number.
+ * S# = 1 byte for sequence number.
-* 			Seq of 0 = seq # synchronise request, forces other end to reset receive sequence number to 1.
+ * 			Seq of 0 = seq # synchronise request, forces other end to reset receive sequence number to 1.
-* 				sender of synchronise request will reset the tx seq number to 1
+ * 				sender of synchronise request will reset the tx seq number to 1
-* 			Seq # of 1..127 = normal data packets. Sequence number is incremented by for each transmitted
+ * 			Seq # of 1..127 = normal data packets. Sequence number is incremented by for each transmitted
-* 				packet.  Rolls over from 127 to 1.
+ * 				packet.  Rolls over from 127 to 1.
-* 			if most sig. bit is set then the packet is an ACK packet of data packet sequence number of the
+ * 			if most sig. bit is set then the packet is an ACK packet of data packet sequence number of the
-* 				lower 7 bits (1..127)
+ * 				lower 7 bits (1..127)
-* App Data may contain 0..254 bytes. The sequence number is consider part of the payload.
+ * App Data may contain 0..254 bytes. The sequence number is consider part of the payload.
-* CRC 16 - 16 bits of CRC values of Sequence # and data bytes.
+ * CRC 16 - 16 bits of CRC values of Sequence # and data bytes.
-*
+ *
-* Protocol has two types of packets: data and ack packets. ACK packets have the most sig. bit set in the
+ * Protocol has two types of packets: data and ack packets. ACK packets have the most sig. bit set in the
-* sequence number, this implies that valid sequence numbers are 1..127
+ * sequence number, this implies that valid sequence numbers are 1..127
-*
+ *
-* This protocol uses the concept of sequences numbers to determine if a given packet has been received. This
+ * This protocol uses the concept of sequences numbers to determine if a given packet has been received. This
-* requires both devices to be able to synchronize sequence numbers. This is accomplished by sending a packet
+ * requires both devices to be able to synchronize sequence numbers. This is accomplished by sending a packet
-* length 1 and sequence number = 0. The receive then resets it's transmit sequence number to 1.
+ * length 1 and sequence number = 0. The receive then resets it's transmit sequence number to 1.
-*
+ *
-* ACTIVE_SYNCH is a version that will automatically send a synch request if it receives a synch packet. Only
+ * ACTIVE_SYNCH is a version that will automatically send a synch request if it receives a synch packet. Only
-* one device in the communication should do otherwise you end up with an endless loops of synchronization.
+ * one device in the communication should do otherwise you end up with an endless loops of synchronization.
-* Right now each side needs to manually issues a synch request.
+ * Right now each side needs to manually issues a synch request.
-*
+ *
-* This protocol is best used in cases where one device is the master and the other is the slave, or a don't
+ * This protocol is best used in cases where one device is the master and the other is the slave, or a don't
-* speak unless spoken to type of approach.
+ * speak unless spoken to type of approach.
-*
+ *
-* The following are items are required to initialize a port for communications:
+ * The following are items are required to initialize a port for communications:
-* 1. The number attempts for each packet
+ * 1. The number attempts for each packet
-* 2. time to wait for an ack.
+ * 2. time to wait for an ack.
-* 3. pointer to buffer to be used for receiving.
+ * 3. pointer to buffer to be used for receiving.
-* 4. pointer to a buffer to be used for transmission
+ * 4. pointer to a buffer to be used for transmission
-* 5. length of each buffer (rx and tx)
+ * 5. length of each buffer (rx and tx)
-* 6. Four functions:
+ * 6. Four functions:
-*  	1. write byte = writes a byte out the serial port (or other comm device)
+ *  	1. write byte = writes a byte out the serial port (or other comm device)
-* 	2. read byte = retrieves a byte from the serial port. Returns -1 if a byte is not available
+ * 	2. read byte = retrieves a byte from the serial port. Returns -1 if a byte is not available
-* 	3. callback = function to call when a valid data packet has been received. This function is responsible
+ * 	3. callback = function to call when a valid data packet has been received. This function is responsible
-* 		to do what needs to be done with the data when it is received. The primary mission of this function
+ * 		to do what needs to be done with the data when it is received. The primary mission of this function
-* 		should be to copy the data to a private buffer out of the working receive buffer to prevent overrun.
+ * 		should be to copy the data to a private buffer out of the working receive buffer to prevent overrun.
-* 		processing should be kept to a minimum.
+ * 		processing should be kept to a minimum.
-* 	4. get time = function should return the current time. Note that time units are not specified it just
+ * 	4. get time = function should return the current time. Note that time units are not specified it just
-* 		needs to be some measure of time that increments as time passes by.  The timeout values for a given
+ * 		needs to be some measure of time that increments as time passes by.  The timeout values for a given
-* 		port should the units used/returned by the get time function.
+ * 		port should the units used/returned by the get time function.
-*
+ *
-* All of the state information of a communication port is contained in a Port_t structure. This allows this
+ * All of the state information of a communication port is contained in a Port_t structure. This allows this
-* module to operature on multiple communication ports with a single code base.
+ * module to operature on multiple communication ports with a single code base.
-*
+ *
-* The ssp_ReceiveProcess and ssp_SendProcess functions need to be called to process data through the
+ * The ssp_ReceiveProcess and ssp_SendProcess functions need to be called to process data through the
-* respective state machines. Typical implementation would have a serial ISR to pull bytes out of the UART
+ * respective state machines. Typical implementation would have a serial ISR to pull bytes out of the UART
-* and place into a circular buffer.  The serial read function would then pull bytes out this buffer
+ * and place into a circular buffer.  The serial read function would then pull bytes out this buffer
-* processing. The TX side has the write function placing bytes into a circular buffer with the TX ISR
+ * processing. The TX side has the write function placing bytes into a circular buffer with the TX ISR
-* pulling bytes out of the buffer and putting into the UART.  It is possible to run the receive process from
+ * pulling bytes out of the buffer and putting into the UART.  It is possible to run the receive process from
-* the receive ISR but care must be taken on processing data when it is received to avoid holding up the ISR
+ * the receive ISR but care must be taken on processing data when it is received to avoid holding up the ISR
-* and sending ACK packets from the receive ISR.
+ * and sending ACK packets from the receive ISR.
-*
+ *
-***********************************************************************************************************/
+ ***********************************************************************************************************/
 
 /** INCLUDE FILES **/
 
@@ -79,19 +79,17 @@
 #define ESC                         224                     // ESC character used in Serial Protocol
 #define ESC_SYNC                    1                       // ESC_SYNC character used in Serial Protocol
 #define ACK_BIT                     0x80                    // Ack bit, bit 7 of sequence number, 1 = Acknowledge, 0 =
-                                                            //    new packet
+//    new packet
 // packet location definitions.
 #define LENGTH  0
 #define SEQNUM  1
 #define DATA	2
 
-
 // Make larger sized integers from smaller sized integers
 #define MAKEWORD16( ub, lb )  ((uint16_t)0x0000 | ((uint16_t)(ub) << 8) | (uint16_t)(lb) )
 #define MAKEWORD32( uw, lw ) ((uint32_t)(0x0UL | ((uint32_t)(uw) << 16) | (uint32_t)(lw)) )
 #define MAKEWORD32B( b3, b2, b1, b0 ) ((uint32_t)((uint32_t)(b3)<< 24) | ((uint32_t)(b2)<<16) | ((uint32_t)(b1)<<8) | ((uint32_t)(b0) )
 
-
 // Used to extract smaller integers from larger sized intergers
 #define LOWERBYTE( w )        (uint8_t)((w) & 0x00ff )
 #define UPPERBYTE( w )        (uint8_t)(((w) & 0xff00) >> 8 )
@@ -109,16 +107,17 @@
 
 /** PRIVATE FUNCTIONS **/
 //static void   	sf_SendSynchPacket( Port_t *thisport );
-static uint16_t sf_crc16( uint16_t crc, uint8_t data );
+static uint16_t sf_crc16(uint16_t crc, uint8_t data);
-static void   	sf_write_byte( Port_t *thisport, uint8_t c );
+static void sf_write_byte(Port_t *thisport, uint8_t c);
-static void   	sf_SetSendTimeout( Port_t *thisport );
+static void sf_SetSendTimeout(Port_t *thisport);
-static uint16_t sf_CheckTimeout( Port_t *thisport );
+static uint16_t sf_CheckTimeout(Port_t *thisport);
-static int16_t 	sf_DecodeState( Port_t *thisport, uint8_t c );
+static int16_t sf_DecodeState(Port_t *thisport, uint8_t c);
-static int16_t 	sf_ReceiveState( Port_t *thisport, uint8_t c );
+static int16_t sf_ReceiveState(Port_t *thisport, uint8_t c);
 
-static void   	sf_SendPacket( Port_t *thisport );
+static void sf_SendPacket(Port_t *thisport);
-static void   	sf_SendAckPacket( Port_t *thisport, uint8_t seqNumber);
+static void sf_SendAckPacket(Port_t *thisport, uint8_t seqNumber);
-static void     sf_MakePacket( uint8_t *buf, const uint8_t * pdata, uint16_t length, uint8_t seqNo );
+static void sf_MakePacket(uint8_t *buf, const uint8_t * pdata, uint16_t length,
+		uint8_t seqNo);
 static int16_t sf_ReceivePacket(Port_t *thisport);
 
 /* Flag bit masks...*/
@@ -131,40 +130,35 @@ static int16_t 	sf_ReceivePacket(Port_t *thisport);
 #define SSP_IDLE			2
 
 /** PRIVATE DATA **/
-static const uint16_t CRC_TABLE[] = {
+static const uint16_t CRC_TABLE[] = { 0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301,
-    0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
+		0x03C0, 0x0280, 0xC241, 0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1,
-    0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
+		0xC481, 0x0440, 0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81,
-    0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
+		0x0E40, 0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
-    0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
+		0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40, 0x1E00,
-    0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
+		0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41, 0x1400, 0xD4C1,
-    0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
+		0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641, 0xD201, 0x12C0, 0x1380,
-    0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
+		0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040, 0xF001, 0x30C0, 0x3180, 0xF141,
-    0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
+		0x3300, 0xF3C1, 0xF281, 0x3240, 0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501,
-    0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
+		0x35C0, 0x3480, 0xF441, 0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0,
-    0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
+		0x3E80, 0xFE41, 0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881,
-    0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
+		0x3840, 0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
-    0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
+		0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40, 0xE401,
-    0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
+		0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640, 0x2200, 0xE2C1,
-    0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
+		0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041, 0xA001, 0x60C0, 0x6180,
-    0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
+		0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240, 0x6600, 0xA6C1, 0xA781, 0x6740,
-    0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
+		0xA501, 0x65C0, 0x6480, 0xA441, 0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01,
-    0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
+		0x6FC0, 0x6E80, 0xAE41, 0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1,
-    0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
+		0xA881, 0x6840, 0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80,
-    0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
+		0xBA41, 0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
-    0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
+		0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640, 0x7200,
-    0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
+		0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041, 0x5000, 0x90C1,
-    0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
+		0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241, 0x9601, 0x56C0, 0x5780,
-    0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
+		0x9741, 0x5500, 0x95C1, 0x9481, 0x5440, 0x9C01, 0x5CC0, 0x5D80, 0x9D41,
-    0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
+		0x5F00, 0x9FC1, 0x9E81, 0x5E40, 0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901,
-    0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
+		0x59C0, 0x5880, 0x9841, 0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1,
-    0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
+		0x8A81, 0x4A40, 0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80,
-    0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
+		0x8C41, 0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
-    0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
+		0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040 };
-    0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
-    0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
-    0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
-    0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
-  };
 
 /** EXTERNAL DATA **/
 
@@ -172,7 +166,6 @@ static const uint16_t CRC_TABLE[] = {
 
 /** VERIFICATION FUNCTIONS **/
 
-
 /***********************************************************************************************************/
 
 /*!
@@ -185,8 +178,7 @@ static const uint16_t CRC_TABLE[] = {
  * Must be called before calling the Send or REceive process functions.
  */
 
-void ssp_Init( Port_t *thisport, const PortConfig_t* const info)
+void ssp_Init(Port_t *thisport, const PortConfig_t* const info) {
-{
 	thisport->pfCallBack = info->pfCallBack;
 	thisport->pfSerialRead = info->pfSerialRead;
 	thisport->pfSerialWrite = info->pfSerialWrite;
@@ -216,11 +208,10 @@ void ssp_Init( Port_t *thisport, const PortConfig_t* const info)
  * \note
  *
  */
-int16_t ssp_SendProcess( Port_t *thisport )
+int16_t ssp_SendProcess(Port_t *thisport) {
-{
 	int16_t value = SSP_TX_WAITING;
 
-	if (thisport->SendState == SSP_AWAITING_ACK ) {
+	if (thisport->SendState == SSP_AWAITING_ACK) {
 		if (sf_CheckTimeout(thisport) == TRUE) {
 			if (thisport->retryCount < thisport->maxRetryCount) {
 				// Try again
@@ -230,7 +221,7 @@ int16_t ssp_SendProcess( Port_t *thisport )
 			} else {
 				// Give up, # of trys has exceded the limit
 #ifdef DEBUG_SSP
-				char str[63]={0};
+				char str[63]= {0};
 				sprintf(str,"Send Timeout|");
 				PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
@@ -241,7 +232,7 @@ int16_t ssp_SendProcess( Port_t *thisport )
 		} else {
 			value = SSP_TX_WAITING;
 		}
-    } else if( thisport->SendState == SSP_ACKED ) {
+	} else if (thisport->SendState == SSP_ACKED) {
 		SETBIT( thisport->flags, ACK_RECEIVED);
 		value = SSP_TX_ACKED;
 		thisport->SendState = SSP_IDLE;
@@ -260,8 +251,7 @@ int16_t ssp_SendProcess( Port_t *thisport )
  * \note
  *
  */
-int16_t ssp_ReceiveProcess(Port_t *thisport)
+int16_t ssp_ReceiveProcess(Port_t *thisport) {
-{
 	int16_t b;
 	int16_t packet_status = SSP_RX_IDLE;
 
@@ -284,13 +274,12 @@ int16_t ssp_ReceiveProcess(Port_t *thisport)
  *
  */
 
-int16_t	ssp_ReceiveByte(Port_t *thisport )
+int16_t ssp_ReceiveByte(Port_t *thisport) {
-{
 	int16_t b;
 	int16_t packet_status = SSP_RX_IDLE;
 
 	b = thisport->pfSerialRead();
-    if( b != -1 ) {
+	if (b != -1) {
 		packet_status = sf_ReceiveState(thisport, b);
 	}
 	return packet_status;
@@ -307,17 +296,16 @@ int16_t	ssp_ReceiveByte(Port_t *thisport )
  * \note
  *
  */
-uint16_t   ssp_SendDataBlock( Port_t *thisport, uint8_t *data, uint16_t length )
+uint16_t ssp_SendDataBlock(Port_t *thisport, uint8_t *data, uint16_t length) {
-{
 	int16_t packet_status = SSP_TX_WAITING;
 	uint16_t retval = FALSE;
 
-    packet_status = ssp_SendData( thisport, data, length );		// send the data
+	packet_status = ssp_SendData(thisport, data, length); // send the data
-	while( packet_status == SSP_TX_WAITING )  {					// check the status
+	while (packet_status == SSP_TX_WAITING) { // check the status
-		(void)ssp_ReceiveProcess( thisport );					// process any bytes received.
+		(void) ssp_ReceiveProcess(thisport); // process any bytes received.
-        packet_status = ssp_SendProcess( thisport );			// check the send status
+		packet_status = ssp_SendProcess(thisport); // check the send status
 	}
-    if( packet_status == SSP_TX_ACKED )  {						// figure out what happened to the packet
+	if (packet_status == SSP_TX_ACKED) { // figure out what happened to the packet
 		retval = TRUE;
 	} else {
 		retval = FALSE;
@@ -337,15 +325,15 @@ uint16_t   ssp_SendDataBlock( Port_t *thisport, uint8_t *data, uint16_t length )
  * \note
  *
  */
-int16_t ssp_SendData( Port_t *thisport, const uint8_t *data, const uint16_t length )
+int16_t ssp_SendData(Port_t *thisport, const uint8_t *data,
-{
+		const uint16_t length) {
 
 	int16_t value = SSP_TX_WAITING;
 
-    if( (length + 2) > thisport->txBufSize ) {
+	if ((length + 2) > thisport->txBufSize) {
 		// TRYING to send too much data.
 		value = SSP_TX_BUFOVERRUN;
-    } else if( thisport->SendState == SSP_IDLE ) {
+	} else if (thisport->SendState == SSP_IDLE) {
 #ifdef ACTIVE_SYNCH
 		if( thisport->sendSynch == TRUE ) {
 			sf_SendSynchPacket(thisport);
@@ -373,7 +361,7 @@ int16_t ssp_SendData( Port_t *thisport, const uint8_t *data, const uint16_t leng
 #else
 		CLEARBIT( thisport->txSeqNo, ACK_BIT ); // make sure we are not sending a ACK packet
 		thisport->txSeqNo++; // update the sequence number.
-        if( thisport->txSeqNo > 0x7F) {             // check for sequence number rollover
+		if (thisport->txSeqNo > 0x7F) { // check for sequence number rollover
 			thisport->txSeqNo = 1; // if we do have rollover then reset to 1 not zero,
 			// zero is reserved for synchronization requests
 		}
@@ -382,18 +370,18 @@ int16_t ssp_SendData( Port_t *thisport, const uint8_t *data, const uint16_t leng
 		thisport->SendState = SSP_AWAITING_ACK;
 		value = SSP_TX_WAITING;
 		thisport->retryCount = 0; // zero out the retry counter for this transmission
-        sf_MakePacket( thisport->txBuf, data, length, thisport->txSeqNo );
+		sf_MakePacket(thisport->txBuf, data, length, thisport->txSeqNo);
-		sf_SendPacket( thisport );				// punch out the packet to the serial port
+		sf_SendPacket(thisport); // punch out the packet to the serial port
-        sf_SetSendTimeout( thisport );	// do the timeout values
+		sf_SetSendTimeout(thisport); // do the timeout values
 #ifdef DEBUG_SSP
-        char str[63]={0};
+		char str[63]= {0};
 		sprintf(str,"Sent DATA PACKET:%d|",thisport->txSeqNo);
 		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
 	} else {
 		// error we are already sending a packet. Need to wait for the current packet to be acked or timeout.
 #ifdef DEBUG_SSP
-    	char str[63]={0};
+		char str[63]= {0};
 		sprintf(str,"Error sending TX was busy|");
 		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
@@ -416,8 +404,7 @@ int16_t ssp_SendData( Port_t *thisport, const uint8_t *data, const uint16_t leng
  * 		if number of tries exceed maximum try limit then exit
  * C. goto A
  */
-uint16_t ssp_Synchronise( Port_t *thisport )
+uint16_t ssp_Synchronise(Port_t *thisport) {
-{
 	int16_t packet_status;
 	uint16_t retval = FALSE;
 
@@ -425,20 +412,20 @@ uint16_t ssp_Synchronise( Port_t *thisport )
 	thisport->txSeqNo = 0; // make this zero to cause the other end to re-synch with us
 	SETBIT(thisport->flags, SENT_SYNCH);
 	// TODO - should this be using ssp_SendPacketData()??
-    sf_MakePacket( thisport->txBuf, NULL, 0, thisport->txSeqNo );    // construct the packet
+	sf_MakePacket(thisport->txBuf, NULL, 0, thisport->txSeqNo); // construct the packet
-    sf_SendPacket( thisport );
+	sf_SendPacket(thisport);
-    sf_SetSendTimeout( thisport );
+	sf_SetSendTimeout(thisport);
 	thisport->SendState = SSP_AWAITING_ACK;
 	packet_status = SSP_TX_WAITING;
 #else
 	packet_status = ssp_SendData( thisport, NULL, 0 );
 #endif
-	while( packet_status == SSP_TX_WAITING )  {      	// we loop until we time out.
+	while (packet_status == SSP_TX_WAITING) { // we loop until we time out.
-		(void)ssp_ReceiveProcess( thisport );			// do the receive process
+		(void) ssp_ReceiveProcess(thisport); // do the receive process
-        packet_status = ssp_SendProcess( thisport );	// do the send process
+		packet_status = ssp_SendProcess(thisport); // do the send process
 	}
 	thisport->sendSynch = FALSE;
-    switch( packet_status ) {
+	switch (packet_status) {
 	case SSP_TX_ACKED:
 		retval = TRUE;
 		break;
@@ -454,7 +441,6 @@ uint16_t ssp_Synchronise( Port_t *thisport )
 	return retval;
 }
 
-
 /*!
  * \brief   sends out a preformatted packet for a give port
  * \param   thisport = which port to use.
@@ -463,20 +449,18 @@ uint16_t ssp_Synchronise( Port_t *thisport )
  * \note
  * Packet should be formed through the use of sf_MakePacket before calling this function.
  */
-static void sf_SendPacket(Port_t *thisport)
+static void sf_SendPacket(Port_t *thisport) {
- {
 	// add 3 to packet data length for: 1 length + 2 CRC (packet overhead)
 	uint8_t packetLen = thisport->txBuf[LENGTH] + 3;
 
 	// use the raw serial write function so the SYNC byte does not get 'escaped'
 	thisport->pfSerialWrite(SYNC);
-    for( uint8_t x = 0; x < packetLen; x++ ) {
+	for (uint8_t x = 0; x < packetLen; x++) {
-		sf_write_byte(thisport, thisport->txBuf[x] );
+		sf_write_byte(thisport, thisport->txBuf[x]);
 	}
 	thisport->retryCount++;
 }
 
-
 /*!
  * \brief   converts data to transport layer protocol packet format.
  * \param   txbuf = buffer to use when forming the packet
@@ -493,8 +477,8 @@ static void sf_SendPacket(Port_t *thisport)
  *  3. TODO: Should this function return an error if data length to be sent is greater th tx buffer size?
  *
  */
-void sf_MakePacket( uint8_t *txBuf, const uint8_t * pdata, uint16_t length, uint8_t seqNo )
+void sf_MakePacket(uint8_t *txBuf, const uint8_t * pdata, uint16_t length,
-{
+		uint8_t seqNo) {
 	uint16_t crc = 0xffff;
 	uint16_t bufPos = 0;
 	uint8_t b;
@@ -502,13 +486,13 @@ void sf_MakePacket( uint8_t *txBuf, const uint8_t * pdata, uint16_t length, uint
 	// add 1 for the seq. number
 	txBuf[LENGTH] = length + 1;
 	txBuf[SEQNUM] = seqNo;
-    crc = sf_crc16( crc, seqNo );
+	crc = sf_crc16(crc, seqNo);
 
 	length = length + 2; // add two for the length and seqno bytes which are added before the loop.
-    for( bufPos = 2; bufPos < length; bufPos++ ) {
+	for (bufPos = 2; bufPos < length; bufPos++) {
 		b = *pdata++;
 		txBuf[bufPos] = b;
-        crc = sf_crc16( crc, b );    // update CRC value
+		crc = sf_crc16(crc, b); // update CRC value
 	}
 	txBuf[bufPos++] = LOWERBYTE(crc);
 	txBuf[bufPos] = UPPERBYTE(crc);
@@ -525,18 +509,17 @@ void sf_MakePacket( uint8_t *txBuf, const uint8_t * pdata, uint16_t length, uint
  *
  */
 
-static void sf_SendAckPacket( Port_t *thisport, uint8_t seqNumber)
+static void sf_SendAckPacket(Port_t *thisport, uint8_t seqNumber) {
-{
 #ifdef DEBUG_SSP
-	char str[63]={0};
+	char str[63]= {0};
 	sprintf(str,"Sent ACK PACKET:%d|",seqNumber);
 	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
 	uint8_t AckSeqNumber = SETBIT( seqNumber, ACK_BIT );
 
 	// create the packet, note we pass AckSequenceNumber directly
-    sf_MakePacket( thisport->txBuf, NULL, 0, AckSeqNumber );
+	sf_MakePacket(thisport->txBuf, NULL, 0, AckSeqNumber);
-    sf_SendPacket( thisport );
+	sf_SendPacket(thisport);
 	// we don't set the timeout for an ACK because we don't ACK our ACKs in this protocol
 }
 
@@ -549,30 +532,29 @@ static void sf_SendAckPacket( Port_t *thisport, uint8_t seqNumber)
  * \note
  *
  */
-static void sf_write_byte( Port_t *thisport, uint8_t c )
+static void sf_write_byte(Port_t *thisport, uint8_t c) {
-{
+	if (c == SYNC) { // check for SYNC byte
-	if( c == SYNC ) {							// check for SYNC byte
+		thisport->pfSerialWrite(ESC); // since we are not starting a packet we must ESCAPE the SYNCH byte
-		thisport->pfSerialWrite( ESC );         // since we are not starting a packet we must ESCAPE the SYNCH byte
+		thisport->pfSerialWrite(ESC_SYNC); // now send the escaped synch char
-		thisport->pfSerialWrite( ESC_SYNC );    // now send the escaped synch char
+	} else if (c == ESC) { // Check for ESC character
-	} else if( c == ESC ) {						// Check for ESC character
+		thisport->pfSerialWrite(ESC); // if it is, we need to send it twice
-		thisport->pfSerialWrite( ESC );			// if it is, we need to send it twice
+		thisport->pfSerialWrite(ESC);
-		thisport->pfSerialWrite( ESC );
 	} else {
-		thisport->pfSerialWrite( c );			// otherwise write the byte to serial port
+		thisport->pfSerialWrite(c); // otherwise write the byte to serial port
 	}
 }
 
 /************************************************************************************************************
-*
+ *
-*  NAME:          uint16_t ssp_crc16( uint16_t crc, uint16_t data )
+ *  NAME:          uint16_t ssp_crc16( uint16_t crc, uint16_t data )
-*  DESCRIPTION:   Uses crc_table to calculate new crc
+ *  DESCRIPTION:   Uses crc_table to calculate new crc
-*  ARGUMENTS:
+ *  ARGUMENTS:
-*        arg1:    crc
+ *        arg1:    crc
-*        arg2:    data - byte to calculate into CRC
+ *        arg2:    data - byte to calculate into CRC
-*  RETURN:        New crc
+ *  RETURN:        New crc
-*  CREATED:    5/8/02
+ *  CREATED:    5/8/02
-*
+ *
-*************************************************************************************************************/
+ *************************************************************************************************************/
 /*!
  * \brief   calculates the new CRC value for 'data'
  * \param   crc = current CRC value
@@ -583,12 +565,10 @@ static void sf_write_byte( Port_t *thisport, uint8_t c )
  *
  */
 
-static uint16_t sf_crc16( uint16_t crc, uint8_t data )
+static uint16_t sf_crc16(uint16_t crc, uint8_t data) {
-{
+	return (crc >> 8) ^ CRC_TABLE[(crc ^ data) & 0x00FF];
-   return (crc >> 8) ^ CRC_TABLE[( crc ^ data ) & 0x00FF ];
 }
 
-
 /*!
  * \brief   sets the timeout for the given packet
  * \param   thisport = which port to use
@@ -598,8 +578,7 @@ static uint16_t sf_crc16( uint16_t crc, uint8_t data )
  *
  */
 
-static void sf_SetSendTimeout( Port_t *thisport )
+static void sf_SetSendTimeout(Port_t *thisport) {
-{
 	uint32_t timeout;
 	timeout = thisport->pfGetTime() + thisport->timeoutLen;
 	thisport->timeout = timeout;
@@ -614,19 +593,17 @@ static void sf_SetSendTimeout( Port_t *thisport )
  * \note
  *
  */
-static uint16_t   sf_CheckTimeout( Port_t *thisport )
+static uint16_t sf_CheckTimeout(Port_t *thisport) {
-{
 	uint16_t retval = FALSE;
 	uint32_t current_time;
 
 	current_time = thisport->pfGetTime();
-    if( current_time > thisport->timeout )  {
+	if (current_time > thisport->timeout) {
 		retval = TRUE;
 	}
 	return retval;
 }
 
-
 /****************************************************************************
  *  NAME:   sf_ReceiveState
  *  DESC:   Implements the receive state handling code for escaped and unescaped data
@@ -646,28 +623,27 @@ static uint16_t   sf_CheckTimeout( Port_t *thisport )
  * \note
  *
  */
-static int16_t sf_ReceiveState( Port_t *thisport, uint8_t c )
+static int16_t sf_ReceiveState(Port_t *thisport, uint8_t c) {
-{
 	int16_t retval = SSP_RX_RECEIVING;
 
-	switch( thisport->InputState ) {
+	switch (thisport->InputState) {
 	case state_unescaped_e:
-	    if( c == SYNC ) {
+		if (c == SYNC) {
 			thisport->DecodeState = decode_len1_e;
-	    } else if ( c == ESC ) {
+		} else if (c == ESC) {
 			thisport->InputState = state_escaped_e;
 		} else {
-			retval = sf_DecodeState( thisport, c);
+			retval = sf_DecodeState(thisport, c);
 		}
 		break; // end of unescaped state.
 	case state_escaped_e:
 		thisport->InputState = state_unescaped_e;
-		if( c == SYNC ) {
+		if (c == SYNC) {
 			thisport->DecodeState = decode_len1_e;
-		} else if (c == ESC_SYNC ) {
+		} else if (c == ESC_SYNC) {
-			retval = sf_DecodeState( thisport, SYNC);
+			retval = sf_DecodeState(thisport, SYNC);
 		} else {
-			retval = sf_DecodeState( thisport, c);
+			retval = sf_DecodeState(thisport, c);
 		}
 		break; // end of the escaped state.
 	default:
@@ -696,19 +672,18 @@ static int16_t sf_ReceiveState( Port_t *thisport, uint8_t c )
  * \note
  *
  */
-static int16_t sf_DecodeState( Port_t *thisport, uint8_t c )
+static int16_t sf_DecodeState(Port_t *thisport, uint8_t c) {
-{
 	int16_t retval;
-	switch( thisport->DecodeState ) {
+	switch (thisport->DecodeState) {
 	case decode_idle_e:
 		// 'c' is ignored in this state as the only way to leave the idle state is
 		// recognition of the SYNC byte in the sf_ReceiveState function.
 		retval = SSP_RX_IDLE;
 		break;
 	case decode_len1_e:
-		thisport->rxBuf[LENGTH]= c;
+		thisport->rxBuf[LENGTH] = c;
 		thisport->rxBufLen = c;
-        if( thisport->rxBufLen <= thisport->rxBufSize ) {
+		if (thisport->rxBufLen <= thisport->rxBufSize) {
 			thisport->DecodeState = decode_seqNo_e;
 			retval = SSP_RX_RECEIVING;
 		} else {
@@ -722,8 +697,8 @@ static int16_t sf_DecodeState( Port_t *thisport, uint8_t c )
 		thisport->rxBufLen--; // subtract 1 for the seq. no.
 		thisport->rxBufPos = 2;
 
-		thisport->crc = sf_crc16( thisport->crc, c );
+		thisport->crc = sf_crc16(thisport->crc, c);
-		if( thisport->rxBufLen > 0 ) {
+		if (thisport->rxBufLen > 0) {
 			thisport->DecodeState = decode_data_e;
 		} else {
 			thisport->DecodeState = decode_crc1_e;
@@ -731,24 +706,24 @@ static int16_t sf_DecodeState( Port_t *thisport, uint8_t c )
 		retval = SSP_RX_RECEIVING;
 		break;
 	case decode_data_e:
-		thisport->rxBuf[ (thisport->rxBufPos)++] = c;
+		thisport->rxBuf[(thisport->rxBufPos)++] = c;
-		thisport->crc = sf_crc16( thisport->crc, c );
+		thisport->crc = sf_crc16(thisport->crc, c);
-		if( thisport->rxBufPos == (thisport->rxBufLen+2) ) {
+		if (thisport->rxBufPos == (thisport->rxBufLen + 2)) {
 			thisport->DecodeState = decode_crc1_e;
 		}
 		retval = SSP_RX_RECEIVING;
 		break;
 	case decode_crc1_e:
-		thisport->crc = sf_crc16( thisport->crc, c );
+		thisport->crc = sf_crc16(thisport->crc, c);
 		thisport->DecodeState = decode_crc2_e;
 		retval = SSP_RX_RECEIVING;
 		break;
 	case decode_crc2_e:
 		thisport->DecodeState = decode_idle_e;
 		// verify the CRC value for the packet
-		if( sf_crc16( thisport->crc, c) == 0)	{
+		if (sf_crc16(thisport->crc, c) == 0) {
 			// TODO shouldn't the return value of sf_ReceivePacket() be checked?
-			sf_ReceivePacket( thisport );
+			sf_ReceivePacket(thisport);
 			retval = SSP_RX_COMPLETE;
 		} else {
 			thisport->RxError++;
@@ -764,18 +739,18 @@ static int16_t sf_DecodeState( Port_t *thisport, uint8_t c )
 }
 
 /************************************************************************************************************
-*
+ *
-*  NAME:             int16_t sf_ReceivePacket( )
+ *  NAME:             int16_t sf_ReceivePacket( )
-*  DESCRIPTION:      Receive one packet, assumed that data is in rec.buff[]
+ *  DESCRIPTION:      Receive one packet, assumed that data is in rec.buff[]
-*   ARGUMENTS:
+ *   ARGUMENTS:
-*   RETURN:          0 . no new packet was received, could be ack or same packet
+ *   RETURN:          0 . no new packet was received, could be ack or same packet
-*                    1 . new packet received
+ *                    1 . new packet received
-*                    SSP_PACKET_?
+ *                    SSP_PACKET_?
-*                    SSP_PACKET_COMPLETE
+ *                    SSP_PACKET_COMPLETE
-*                    SSP_PACKET_ACK
+ *                    SSP_PACKET_ACK
-*   CREATED:         5/8/02
+ *   CREATED:         5/8/02
-*
+ *
-*************************************************************************************************************/
+ *************************************************************************************************************/
 /*!
  * \brief   receive one packet. calls the callback function if needed.
  * \param   thisport = which port to use
@@ -787,18 +762,17 @@ static int16_t sf_DecodeState( Port_t *thisport, uint8_t c )
  *	Created: Oct 7, 2010 12:07:22 AM by joe
  */
 
-static int16_t sf_ReceivePacket(Port_t *thisport)
+static int16_t sf_ReceivePacket(Port_t *thisport) {
-{
 	int16_t value = FALSE;
 
-	if( ISBITSET(thisport->rxBuf[SEQNUM], ACK_BIT ) ) {
+	if (ISBITSET(thisport->rxBuf[SEQNUM], ACK_BIT )) {
 		//  Received an ACK packet, need to check if it matches the previous sent packet
-		if( ( thisport->rxBuf[SEQNUM] & 0x7F) == (thisport->txSeqNo & 0x7f)) {
+		if ((thisport->rxBuf[SEQNUM] & 0x7F) == (thisport->txSeqNo & 0x7f)) {
 			//  It matches the last packet sent by us
 			SETBIT( thisport->txSeqNo, ACK_BIT );
 			thisport->SendState = SSP_ACKED;
 #ifdef DEBUG_SSP
-			char str[63]={0};
+			char str[63]= {0};
 			sprintf(str,"Received ACK:%d|",(thisport->txSeqNo & 0x7F));
 			PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
@@ -807,7 +781,7 @@ static int16_t sf_ReceivePacket(Port_t *thisport)
 		// else ignore the ACK packet
 	} else {
 		//  Received a 'data' packet, figure out what type of packet we received...
-		if( thisport->rxBuf[SEQNUM] == 0 ) {
+		if (thisport->rxBuf[SEQNUM] == 0) {
 #ifdef DEBUG_SSP
 			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"Received SYNC Request|");
 #endif
@@ -815,30 +789,30 @@ static int16_t sf_ReceivePacket(Port_t *thisport)
 #ifdef ACTIVE_SYNCH
 			thisport->sendSynch = TRUE;
 #endif
-			sf_SendAckPacket( thisport, thisport->rxBuf[SEQNUM] );
+			sf_SendAckPacket(thisport, thisport->rxBuf[SEQNUM]);
 			thisport->rxSeqNo = 0;
 			value = FALSE;
-		} else if( thisport->rxBuf[SEQNUM] == thisport->rxSeqNo ) {
+		} else if (thisport->rxBuf[SEQNUM] == thisport->rxSeqNo) {
 			// Already seen this packet, just ack it, don't act on the packet.
-			sf_SendAckPacket( thisport, thisport->rxBuf[SEQNUM] );
+			sf_SendAckPacket(thisport, thisport->rxBuf[SEQNUM]);
 			value = FALSE;
 		} else {
 			//New Packet
 			thisport->rxSeqNo = thisport->rxBuf[SEQNUM];
 			// Let the application do something with the data/packet.
-			if( thisport->pfCallBack != NULL ) {
+			if (thisport->pfCallBack != NULL) {
 #ifdef DEBUG_SSP
-				char str[63]={0};
+				char str[63]= {0};
 				sprintf(str,"Received DATA PACKET:%d [0]=%d %d %d|",thisport->rxSeqNo,(uint8_t)thisport->rxBuf[2],(uint8_t)thisport->rxBuf[3],(uint8_t)thisport->rxBuf[4]);
 				PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
 				// skip the first two bytes (length and seq. no.) in the buffer.
-				thisport->pfCallBack( &(thisport->rxBuf[2]), thisport->rxBufLen);
+				thisport->pfCallBack(&(thisport->rxBuf[2]), thisport->rxBufLen);
 			}
 			// after we send the ACK, it is possible for the host to send a new packet.
 			// Thus the application needs to copy the data and reset the receive buffer
 			// inside of thisport->pfCallBack()
-			sf_SendAckPacket( thisport, thisport->rxBuf[SEQNUM] );
+			sf_SendAckPacket(thisport, thisport->rxBuf[SEQNUM]);
 			value = TRUE;
 		}
 	}

flight/Bootloaders/OpenPilot/ssp_timer.c

@@ -25,17 +25,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 /////////////////////////////////////////////////////////////////////////////
 // Include files
 /////////////////////////////////////////////////////////////////////////////
 
 #include "stm32f10x_tim.h"
 
-
-
-
-
 /////////////////////////////////////////////////////////////////////////////
 // Local definitions
 /////////////////////////////////////////////////////////////////////////////
@@ -43,10 +38,10 @@
 #define SSP_TIMER_TIMER_BASE                 TIM7
 #define SSP_TIMER_TIMER_RCC   RCC_APB1Periph_TIM7
 
-uint32_t SSP_TIMER_Init(u32 resolution)
+uint32_t SSP_TIMER_Init(u32 resolution) {
-{
 	// enable timer clock
-  if( SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM1 || SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM8 )
+	if (SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM1 || SSP_TIMER_TIMER_RCC
+			== RCC_APB2Periph_TIM8)
 		RCC_APB2PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE);
 	else
 		RCC_APB1PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE);
@@ -54,7 +49,7 @@ uint32_t SSP_TIMER_Init(u32 resolution)
 	// time base configuration
 	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
 	TIM_TimeBaseStructure.TIM_Period = 0xffff; // max period
-  TIM_TimeBaseStructure.TIM_Prescaler = (72 * resolution)-1; // <resolution> uS accuracy @ 72 MHz
+	TIM_TimeBaseStructure.TIM_Prescaler = (72 * resolution) - 1; // <resolution> uS accuracy @ 72 MHz
 	TIM_TimeBaseStructure.TIM_ClockDivision = 0;
 	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
 	TIM_TimeBaseInit(SSP_TIMER_TIMER_BASE, &TIM_TimeBaseStructure);
@@ -68,13 +63,11 @@ uint32_t SSP_TIMER_Init(u32 resolution)
 	return 0; // no error
 }
 
-
 /////////////////////////////////////////////////////////////////////////////
 //! Resets the SSP_TIMER
 //! \return < 0 on errors
 /////////////////////////////////////////////////////////////////////////////
-uint32_t SSP_TIMER_Reset(void)
+uint32_t SSP_TIMER_Reset(void) {
-{
 	// reset counter
 	SSP_TIMER_TIMER_BASE->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
 	TIM_ClearITPendingBit(SSP_TIMER_TIMER_BASE, TIM_IT_Update);
@@ -82,17 +75,15 @@ uint32_t SSP_TIMER_Reset(void)
 	return 0; // no error
 }
 
-
 /////////////////////////////////////////////////////////////////////////////
 //! Returns current value of SSP_TIMER
 //! \return 1..65535: valid SSP_TIMER value
 //! \return 0xffffffff: counter overrun
 /////////////////////////////////////////////////////////////////////////////
-uint32_t SSP_TIMER_ValueGet(void)
+uint32_t SSP_TIMER_ValueGet(void) {
-{
 	uint32_t value = SSP_TIMER_TIMER_BASE->CNT;
 
-  if( TIM_GetITStatus(SSP_TIMER_TIMER_BASE, TIM_IT_Update) != RESET )
+	if (TIM_GetITStatus(SSP_TIMER_TIMER_BASE, TIM_IT_Update) != RESET)
 		SSP_TIMER_Reset();
 
 	return value;

flight/Bootloaders/OpenPilot/stopwatch.c

@@ -1,103 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotBL OpenPilot BootLoader
- * @{
- *
- * @file       stopwatch.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Timer functions for the LED PWM.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/////////////////////////////////////////////////////////////////////////////
-// Include files
-/////////////////////////////////////////////////////////////////////////////
-
-#include "stm32f10x_tim.h"
-
-/////////////////////////////////////////////////////////////////////////////
-// Local definitions
-/////////////////////////////////////////////////////////////////////////////
-
-//#define STOPWATCH_TIMER_BASE                 TIM6
-//#define STOPWATCH_TIMER_RCC   RCC_APB1Periph_TIM6
-
-uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
-	uint32_t STOPWATCH_TIMER_RCC;
-	switch ((uint32_t)TIM) {
-	case (uint32_t)TIM6:
-		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM6;
-		break;
-	case (uint32_t)TIM7:
-		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM7;
-		break;
-	default:
-		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM6;
-	}
-
-	// enable timer clock
-	if (STOPWATCH_TIMER_RCC == RCC_APB2Periph_TIM1 || STOPWATCH_TIMER_RCC
-			== RCC_APB2Periph_TIM8)
-		RCC_APB2PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
-	else
-		RCC_APB1PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
-
-	// time base configuration
-	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
-	TIM_TimeBaseStructure.TIM_Period = 0xffff; // max period
-	TIM_TimeBaseStructure.TIM_Prescaler = (72 * resolution) - 1; // <resolution> uS accuracy @ 72 MHz
-	TIM_TimeBaseStructure.TIM_ClockDivision = 0;
-	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-	TIM_TimeBaseInit(TIM, &TIM_TimeBaseStructure);
-
-	// enable interrupt request
-	TIM_ITConfig(TIM, TIM_IT_Update, ENABLE);
-
-	// start counter
-	TIM_Cmd(TIM, ENABLE);
-
-	return 0; // no error
-}
-
-/////////////////////////////////////////////////////////////////////////////
-//! Resets the stopwatch
-//! \return < 0 on errors
-/////////////////////////////////////////////////////////////////////////////
-uint32_t STOPWATCH_Reset(TIM_TypeDef* TIM) {
-	// reset counter
-	TIM->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
-	TIM_ClearITPendingBit(TIM, TIM_IT_Update);
-
-	return 0; // no error
-}
-
-/////////////////////////////////////////////////////////////////////////////
-//! Returns current value of stopwatch
-//! \return 1..65535: valid stopwatch value
-//! \return 0xffffffff: counter overrun
-/////////////////////////////////////////////////////////////////////////////
-uint32_t STOPWATCH_ValueGet(TIM_TypeDef* TIM) {
-	uint32_t value = TIM->CNT;
-
-	if (TIM_GetITStatus(TIM, TIM_IT_Update) != RESET)
-		value = 0xffffffff;
-
-	return value;
-}
-

flight/Bootloaders/PipXtreme/Makefile

@@ -112,7 +112,7 @@ DOXYGENDIR = ../Doc/Doxygen
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/op_dfu.c
-SRC += $(OPSYSTEM)/stopwatch.c
+SRC += $(FLIGHTLIB)/stopwatch.c
 
 
 ## PIOS Hardware (STM32F10x)
@@ -121,35 +121,20 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
 SRC += $(PIOSSTM32F10X)/pios_usart.c
 SRC += $(PIOSSTM32F10X)/pios_irq.c
-#SRC += $(PIOSSTM32F10X)/pios_adc.c
-#SRC += $(PIOSSTM32F10X)/pios_servo.c
-#SRC += $(PIOSSTM32F10X)/pios_i2c.c
-#SRC += $(PIOSSTM32F10X)/pios_spi.c
-#SRC += $(PIOSSTM32F10X)/pios_ppm.c
-#SRC += $(PIOSSTM32F10X)/pios_pwm.c
-#SRC += $(PIOSSTM32F10X)/pios_spektrum.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
-#SRC += $(PIOSSTM32F10X)/pios_exti.c
-#SRC += $(PIOSSTM32F10X)/pios_wdg.c
-
 
 # PIOS USB related files (seperated to make code maintenance more easy)
 SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
-#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
-#SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
-#SRC += $(PIOSCOMMON)/pios_bmp085.c
-#SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_iap.c
-#SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 
 ## Libraries for flight calculations
@@ -160,22 +145,18 @@ SRC += $(CMSISDIR)/core_cm3.c
 SRC += $(CMSISDIR)/system_stm32f10x.c
 
 ## Used parts of the STM-Library
-#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
-#SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
 SRC += $(STMSPDSRCDIR)/misc.c
 

flight/Bootloaders/PipXtreme/inc/common.h

@@ -51,7 +51,8 @@ typedef enum {
 	uploadingStarting, //9
 	outsideDevCapabilities, //10
 	CRC_Fail,//11
-	failed_jump,//12
+	failed_jump,
+//12
 } DFUStates;
 /**************************************************/
 /* OP_DFU commands                       */
@@ -74,9 +75,8 @@ typedef enum {
 } DFUCommands;
 
 typedef enum {
-	High_Density,
+	High_Density, Medium_Density
-	Medium_Density
+} DeviceType;
-}DeviceType;
 /**************************************************/
 /* OP_DFU transfer types                       */
 /**************************************************/

flight/Bootloaders/PipXtreme/inc/op_dfu.h

@@ -1,4 +1,4 @@
- /**
+/**
  ******************************************************************************
  *
  * @file       op_dfu.h
@@ -29,8 +29,7 @@
 #include "common.h"
 /* Includes ------------------------------------------------------------------*/
 /* Exported types ------------------------------------------------------------*/
-typedef struct
+typedef struct {
-{
 	uint8_t programmingType;
 	uint8_t readWriteFlags;
 	uint32_t startOfUserCode;
@@ -40,7 +39,7 @@ typedef struct
 	uint16_t devID;
 	DeviceType devType;
 	uint32_t FW_Crc;
-}Device;
+} Device;
 
 /* Exported constants --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/

flight/Bootloaders/PipXtreme/inc/pios_config.h

@@ -27,7 +27,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER

flight/Bootloaders/PipXtreme/inc/pios_usb.h

@@ -69,8 +69,8 @@
 #define PIOS_USB_ENDP1_RXADDR		0x100
 
 /* Global Variables */
-extern void (*pEpInt_IN[7]) (void);
+extern void (*pEpInt_IN[7])(void);
-extern void (*pEpInt_OUT[7]) (void);
+extern void (*pEpInt_OUT[7])(void);
 
 /* Public Functions */
 extern int32_t PIOS_USB_Init(uint32_t mode);

flight/Bootloaders/PipXtreme/inc/stopwatch.h

@@ -1,55 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotBL OpenPilot BootLoader
- * @{
- *
- * @file       stopwatch.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Timer functions for the LED PWM.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef _STOPWATCH_H
-#define _STOPWATCH_H
-
-/////////////////////////////////////////////////////////////////////////////
-// Global definitions
-/////////////////////////////////////////////////////////////////////////////
-
-
-/////////////////////////////////////////////////////////////////////////////
-// Global Types
-/////////////////////////////////////////////////////////////////////////////
-
-
-/////////////////////////////////////////////////////////////////////////////
-// Prototypes
-/////////////////////////////////////////////////////////////////////////////
-
-extern s32 STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM);
-extern s32 STOPWATCH_Reset(TIM_TypeDef* TIM);
-extern u32 STOPWATCH_ValueGet(TIM_TypeDef* TIM);
-
-
-/////////////////////////////////////////////////////////////////////////////
-// Export global variables
-/////////////////////////////////////////////////////////////////////////////
-
-
-#endif /* _STOPWATCH_H */

flight/Bootloaders/PipXtreme/main.c

@@ -53,12 +53,11 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 
 
 ////////////////////////////////////////
-uint8_t tempcount=0;
+uint8_t tempcount = 0;
-
 
 /* Extern variables ----------------------------------------------------------*/
 DFUStates DeviceState;
-int16_t status=0;
+int16_t status = 0;
 uint8_t JumpToApp = FALSE;
 uint8_t GO_dfu = FALSE;
 uint8_t USB_connected = FALSE;
@@ -94,11 +93,11 @@ int main() {
 
 	if (GO_dfu == TRUE) {
 		PIOS_Board_Init();
-		if(User_DFU_request == TRUE)
+		if (User_DFU_request == TRUE)
 			DeviceState = DFUidle;
 		else
 			DeviceState = BLidle;
-		STOPWATCH_Init(100,LED_PWM_TIMER);
+		STOPWATCH_Init(100, LED_PWM_TIMER);
 	} else
 		JumpToApp = TRUE;
 
@@ -161,7 +160,8 @@ int main() {
 
 		if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
 			STOPWATCH_Reset(LED_PWM_TIMER);
-		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle))
+		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
+				== BLidle))
 			JumpToApp = TRUE;
 
 		processRX();

flight/Bootloaders/PipXtreme/op_dfu.c

@@ -74,7 +74,7 @@ extern DFUStates DeviceState;
 extern uint8_t JumpToApp;
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf,uint16_t size);
+void sendData(uint8_t * buf, uint16_t size);
 uint32_t CalcFirmCRC(void);
 
 void DataDownload(DownloadAction action) {
@@ -97,8 +97,8 @@ void DataDownload(DownloadAction action) {
 		for (uint8_t x = 0; x < packetSize; ++x) {
 			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
 			offset = baseOfAdressType(downType) + partoffset;
-			if(!flash_read(SendBuffer+(6+x*4),offset,currentProgrammingDestination))
+			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-			{
+					currentProgrammingDestination)) {
 				DeviceState = Last_operation_failed;
 			}
 			/*
@@ -122,7 +122,7 @@ void DataDownload(DownloadAction action) {
 			 SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
 			 break;
 			 }
-*/
+			 */
 		}
 		//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64);
 		downPacketCurrent = downPacketCurrent + 1;
@@ -131,14 +131,14 @@ void DataDownload(DownloadAction action) {
 			DeviceState = Last_operation_Success;
 			Aditionals = (uint32_t) Download;
 		}
-		sendData(SendBuffer+1,63);
+		sendData(SendBuffer + 1, 63);
 	}
 }
 void processComand(uint8_t *xReceive_Buffer) {
 
 	Command = xReceive_Buffer[COMMAND];
 #ifdef DEBUG_SSP
-	char str[63]={0};
+	char str[63]= {0};
 	sprintf(str,"Received COMMAND:%d|",Command);
 	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
 #endif
@@ -317,7 +317,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
 			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
 			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID>>8;
+			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
 			Buffer[15] = devicesTable[Data0 - 1].devID;
 		}
 		sendData(Buffer + 1, 63);
@@ -470,10 +470,9 @@ uint32_t CalcFirmCRC() {
 	}
 
 }
-void sendData(uint8_t * buf,uint16_t size)
+void sendData(uint8_t * buf, uint16_t size) {
-{
 	PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
-	if(DeviceState == downloading)
+	if (DeviceState == downloading)
 		PIOS_DELAY_WaitmS(10);
 }
 

flight/Bootloaders/PipXtreme/stopwatch.c

@@ -1,101 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotBL OpenPilot BootLoader
- * @{
- *
- * @file       stopwatch.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Timer functions for the LED PWM.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/////////////////////////////////////////////////////////////////////////////
-// Include files
-/////////////////////////////////////////////////////////////////////////////
-
-#include "stm32f10x_tim.h"
-
-/////////////////////////////////////////////////////////////////////////////
-// Local definitions
-/////////////////////////////////////////////////////////////////////////////
-
-//#define STOPWATCH_TIMER_BASE                 TIM6
-//#define STOPWATCH_TIMER_RCC   RCC_APB1Periph_TIM6
-
-uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
-	uint32_t STOPWATCH_TIMER_RCC;
-	switch ((uint32_t)TIM) {
-	case (uint32_t)TIM1: STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;break;
-	case (uint32_t)TIM2: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM2; break;
-	case (uint32_t)TIM3: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM3; break;
-	case (uint32_t)TIM4: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4; break;
-	default:
-		STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
-	}
-
-	// enable timer clock
-	if (STOPWATCH_TIMER_RCC == RCC_APB2Periph_TIM1 || STOPWATCH_TIMER_RCC
-			== RCC_APB2Periph_TIM8)
-		RCC_APB2PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
-	else
-		RCC_APB1PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
-
-	// time base configuration
-	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
-	TIM_TimeBaseStructure.TIM_Period = 0xffff; // max period
-	TIM_TimeBaseStructure.TIM_Prescaler = (72 * resolution) - 1; // <resolution> uS accuracy @ 72 MHz
-	TIM_TimeBaseStructure.TIM_ClockDivision = 0;
-	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-	TIM_TimeBaseInit(TIM, &TIM_TimeBaseStructure);
-
-	// enable interrupt request
-	TIM_ITConfig(TIM, TIM_IT_Update, ENABLE);
-
-	// start counter
-	TIM_Cmd(TIM, ENABLE);
-
-	return 0; // no error
-}
-
-/////////////////////////////////////////////////////////////////////////////
-//! Resets the stopwatch
-//! \return < 0 on errors
-/////////////////////////////////////////////////////////////////////////////
-uint32_t STOPWATCH_Reset(TIM_TypeDef* TIM) {
-	// reset counter
-	TIM->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
-	TIM_ClearITPendingBit(TIM, TIM_IT_Update);
-
-	return 0; // no error
-}
-
-/////////////////////////////////////////////////////////////////////////////
-//! Returns current value of stopwatch
-//! \return 1..65535: valid stopwatch value
-//! \return 0xffffffff: counter overrun
-/////////////////////////////////////////////////////////////////////////////
-uint32_t STOPWATCH_ValueGet(TIM_TypeDef* TIM) {
-	uint32_t value = TIM->CNT;
-
-	if (TIM_GetITStatus(TIM, TIM_IT_Update) != RESET)
-		value = 0xffffffff;
-
-	return value;
-}
-

flight/Libraries/stopwatch.c

@@ -37,11 +37,19 @@
 
 uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
 	uint32_t STOPWATCH_TIMER_RCC;
-	switch ((uint32_t)TIM) {
+	switch ((uint32_t) TIM) {
-	case (uint32_t)TIM1: STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;break;
+	case (uint32_t)TIM1:
-	case (uint32_t)TIM2: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM2; break;
+		STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
-	case (uint32_t)TIM3: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM3; break;
+		break;
-	case (uint32_t)TIM4: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4; break;
+	case (uint32_t)TIM2:
+		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM2;
+		break;
+	case (uint32_t)TIM3:
+		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM3;
+		break;
+	case (uint32_t)TIM4:
+		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4;
+		break;
 	default:
 		STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
 	}