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Code Issues Releases Activity

OP-1273 Uncrustify

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This commit is contained in:
Andres 2014-03-27 16:19:22 +01:00
parent 8e26338f24
commit c5dc556a43
9 changed files with 91 additions and 92 deletions
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22
flight/modules/Airspeed/airspeed.c
View File

@ -118,7 +118,7 @@ int32_t AirspeedInitialize()
airspeedADCPin = i;
}
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
AirspeedSensorInitialize();
@ -155,21 +155,21 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
// Update the airspeed object
AirspeedSensorGet(&airspeedData);
// if sensor type changed and the last sensor was
// if sensor type changed and the last sensor was
// either Eagletree or PixHawk, reset I2C alarms
if(airspeedSettings.AirspeedSensorType != lastAirspeedSensorType){
if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
switch (lastAirspeedSensorType) {
// Eagletree or PixHawk => Reset I2C alams
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
AlarmsDefault(SYSTEMALARMS_ALARM_I2C);
break;
// else do not reset I2C alarms
default: break;
// Eagletree or PixHawk => Reset I2C alams
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
AlarmsDefault(SYSTEMALARMS_ALARM_I2C);
break;
// else do not reset I2C alarms
default: break;
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
}
switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:

100
flight/modules/Airspeed/baro_airspeed_ms4525do.c
View File

@ -45,15 +45,15 @@
#if defined(PIOS_INCLUDE_MS4525DO)
#define CALIBRATION_IDLE_MS 0 // Time to wait before calibrating, in [ms]
#define CALIBRATION_COUNT_MS 4000 // Time to spend calibrating, in [ms]
#define FILTER_SHIFT 5 // Barry Dorr filter parameter k
#define CALIBRATION_COUNT_MS 4000 // Time to spend calibrating, in [ms]
#define FILTER_SHIFT 5 // Barry Dorr filter parameter k
#define P0 101325.0f // standard pressure
#define CCEXPONENT 0.2857142857f // exponent of compressibility correction 2/7
#define CASFACTOR 760.8802669f // sqrt(5) * speed of sound at standard
#define TASFACTOR 0.05891022589f // 1/sqrt(T0)
#define P0 101325.0f // standard pressure
#define CCEXPONENT 0.2857142857f // exponent of compressibility correction 2/7
#define CASFACTOR 760.8802669f // sqrt(5) * speed of sound at standard
#define TASFACTOR 0.05891022589f // 1/sqrt(T0)
#define max(x,y) ((x)>=(y) ? (x) : (y))
#define max(x, y) ((x) >= (y) ? (x) : (y))
// Private types
@ -62,38 +62,38 @@ static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, Airs
// Private variables
static uint16_t calibrationCount = 0;
static uint32_t filter_reg = 0; // Barry Dorr filter register
static uint16_t calibrationCount = 0;
static uint32_t filter_reg = 0; // Barry Dorr filter register
void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
{
// request measurement first
int8_t retVal = PIOS_MS4525DO_Request();
if( retVal !=0 ){
if (retVal != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
return;
}
// Datasheet of MS4525DO: conversion needs 0.5 ms + 20% more when status bit used
// delay by one Tick or at least 2 ms
const portTickType xDelay = max(2 / portTICK_RATE_MS, 1);
vTaskDelay( xDelay );
vTaskDelay(xDelay);
// read the sensor
retVal = baro_airspeedReadMS4525DO(airspeedSensor,airspeedSettings);
switch( retVal ){
case 0 : AlarmsClear(SYSTEMALARMS_ALARM_I2C);
break;
case -4 :
case -5 : AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
break;
case -1 :
case -2 :
case -3 :
case -6 :
default : AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
retVal = baro_airspeedReadMS4525DO(airspeedSensor, airspeedSettings);
switch (retVal) {
case 0: AlarmsClear(SYSTEMALARMS_ALARM_I2C);
break;
case -4:
case -5: AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
break;
case -1:
case -2:
case -3:
case -6:
default: AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
}
}
@ -103,38 +103,38 @@ static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, Airs
{
// Check to see if airspeed sensor is returning airspeedSensor
uint16_t values[2];
int8_t retVal=PIOS_MS4525DO_Read(values);
if( retVal == 0 ){
airspeedSensor->SensorValue = values[0];
int8_t retVal = PIOS_MS4525DO_Read(values);
if (retVal == 0) {
airspeedSensor->SensorValue = values[0];
airspeedSensor->SensorValueTemperature = values[1];
} else {
airspeedSensor->SensorValue = -1;
airspeedSensor->SensorValueTemperature = -1;
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
airspeedSensor->CalibratedAirspeed = 0;
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
airspeedSensor->CalibratedAirspeed = 0;
return retVal;
}
// only calibrate if no stored calibration is available
if ( !airspeedSettings->ZeroPoint ) {
if (!airspeedSettings->ZeroPoint) {
// Calibrate sensor by averaging zero point value
if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
calibrationCount++;
filter_reg = (airspeedSensor->SensorValue << FILTER_SHIFT );
filter_reg = (airspeedSensor->SensorValue << FILTER_SHIFT);
return retVal;
} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
calibrationCount++;
// update filter register
filter_reg = filter_reg - ( filter_reg >> FILTER_SHIFT ) + airspeedSensor->SensorValue;
filter_reg = filter_reg - (filter_reg >> FILTER_SHIFT) + airspeedSensor->SensorValue;
if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
// Scale output for unity gain.
airspeedSettings->ZeroPoint = (uint16_t)( filter_reg >> FILTER_SHIFT );
// Scale output for unity gain.
airspeedSettings->ZeroPoint = (uint16_t)(filter_reg >> FILTER_SHIFT);
AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
calibrationCount = 0;
calibrationCount = 0;
}
return retVal;
}
@ -149,19 +149,19 @@ static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, Airs
Datasheet temperature: output = (T+50)*2047 / 200
Inversion: T = (200*out - 102350)/2047 in C
T = (200*out - 102350)/2047 + 273.15 in K
*/
const float dP = ( 10*(int32_t)(airspeedSensor->SensorValue-airspeedSettings->ZeroPoint) ) * 0.1052120688f;
const float T = (float)( 200*(int32_t)airspeedSensor->SensorValueTemperature - 102350) / 2047 + 273.15f;
*/
const float dP = (10 * (int32_t)(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint)) * 0.1052120688f;
const float T = (float)(200 * (int32_t)airspeedSensor->SensorValueTemperature - 102350) / 2047 + 273.15f;
airspeedSensor->DifferentialPressure = dP;
airspeedSensor->Temperature = T;
airspeedSensor->Temperature = T;
// CAS = Csound * sqrt( 5 *( (dP/P0 +1)^(2/7) - 1) )
// TAS = Csound * sqrt( 5 T/T0 *( (dP/P0 +1)^(2/7) - 1) )
// where Csound = 340.276 m/s at standard condition T0=288.15 K and P0 = 101315 Pa
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * CASFACTOR * sqrtf( powf( fabsf(dP) / P0 + 1.0f , CCEXPONENT ) - 1.0f );
airspeedSensor->TrueAirspeed = airspeedSensor->CalibratedAirspeed * TASFACTOR * sqrtf( T );
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * CASFACTOR * sqrtf(powf(fabsf(dP) / P0 + 1.0f, CCEXPONENT) - 1.0f);
airspeedSensor->TrueAirspeed = airspeedSensor->CalibratedAirspeed * TASFACTOR * sqrtf(T);
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
return retVal;
}

6
flight/modules/Attitude/revolution/attitude.c
View File

@ -650,7 +650,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
if (airspeedSensor.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
// we have airspeed available
airspeed.CalibratedAirspeed = airspeedSensor.CalibratedAirspeed;
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
AirspeedStateSet(&airspeed);
}
}
@ -1078,8 +1078,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
AirspeedStateGet(&airspeed);
airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
AirspeedStateSet(&airspeed);
if (!gps_vel_updated && !gps_updated) {

2
flight/modules/StateEstimation/filterair.c
View File

@ -78,7 +78,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
this->altitude = state->baro[0];
}
// calculate true airspeed estimation
if (IS_SET(state->updated, SENSORUPDATES_airspeed) && (state->airspeed[1]<0.f) ) {
if (IS_SET(state->updated, SENSORUPDATES_airspeed) && (state->airspeed[1] < 0.f)) {
state->airspeed[1] = state->airspeed[0] * IAS2TAS(this->altitude);
}

8
flight/modules/StateEstimation/stateestimation.c
View File

@ -74,7 +74,7 @@
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
@ -86,7 +86,7 @@
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, a2, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
@ -110,7 +110,7 @@
s.a3 = states.shortname[2]; \
statename##Set(&s); \
}
#define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_2_DIMENSIONS(statename, shortname, a1, a2) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
statename##Data s; \
@ -395,7 +395,7 @@ static void StateEstimationCb(void)
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GPSVelocitySensor, vel, North, East, Down);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(BaroSensor, baro, Altitude, true);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, TrueAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
// GPS position data (LLA) is not fetched here since it does not contain floats. The filter must do all checks itself
// at this point sensor state is stored in "states" with some rudimentary filtering applied

31
flight/pios/common/pios_ms4525do.c
View File

@ -40,7 +40,6 @@ static int8_t PIOS_MS4525DO_WriteI2C(uint8_t *buffer, uint8_t len);
static bool pios_ms4525do_requested = false;
static int8_t PIOS_MS4525DO_ReadI2C(uint8_t *buffer, uint8_t len)
{
const struct pios_i2c_txn txn_list[] = {
@ -73,15 +72,15 @@ static int8_t PIOS_MS4525DO_WriteI2C(uint8_t *buffer, uint8_t len)
}
int8_t PIOS_MS4525DO_Request(void)
{
// MS4525DO expects a zero length write.
// MS4525DO expects a zero length write.
// Sending one byte is a workaround that works for the moment
uint8_t data=0;
int8_t retVal=PIOS_MS4525DO_WriteI2C(&data,sizeof(data));
/* requested only when transfer worked */
pios_ms4525do_requested = ( retVal == 0 );
uint8_t data = 0;
int8_t retVal = PIOS_MS4525DO_WriteI2C(&data, sizeof(data));
/* requested only when transfer worked */
pios_ms4525do_requested = (retVal == 0);
return retVal;
}
@ -98,28 +97,28 @@ int8_t PIOS_MS4525DO_Read(uint16_t *values)
}
uint8_t data[4];
int8_t retVal=PIOS_MS4525DO_ReadI2C(data, sizeof(data));
int8_t retVal = PIOS_MS4525DO_ReadI2C(data, sizeof(data));
uint8_t status = data[0] & 0xC0;
if (status == 0x80) {
/* stale data */
/* stale data */
return -5;
} else if (status == 0xC0) {
/* device probably broken */
return -6;
}
/* differential pressure */
/* differential pressure */
values[0] = (data[0] << 8);
values[0] += data[1];
values[0] += data[1];
/* temperature */
values[1] = (data[2] << 8);
values[1] += data[3];
values[1] += data[3];
values[1] = (values[1] >> 5);
/* not requested anymore, only when transfer worked */
pios_ms4525do_requested = !( retVal == 0 );
/* not requested anymore, only when transfer worked */
pios_ms4525do_requested = !(retVal == 0);
return retVal;
}

4
flight/pios/stm32f10x/pios_i2c.c
View File

@ -414,8 +414,8 @@ static void go_starting(struct pios_i2c_adapter *i2c_adapter)
i2c_adapter->last_byte = NULL;
i2c_adapter->active_byte = i2c_adapter->last_byte + 1;
}
I2C_GenerateSTART(i2c_adapter->cfg->regs, ENABLE);
if (i2c_adapter->active_txn->rw == PIOS_I2C_TXN_READ) {
I2C_ITConfig(i2c_adapter->cfg->regs, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, ENABLE);

2
flight/pios/stm32f4xx/pios_i2c.c
View File

@ -417,7 +417,7 @@ static void go_starting(struct pios_i2c_adapter *i2c_adapter)
i2c_adapter->last_byte = NULL;
i2c_adapter->active_byte = i2c_adapter->last_byte + 1;
}
I2C_GenerateSTART(i2c_adapter->cfg->regs, ENABLE);
if (i2c_adapter->active_txn->rw == PIOS_I2C_TXN_READ) {
I2C_ITConfig(i2c_adapter->cfg->regs, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, ENABLE);

8
flight/targets/boards/revolution/pios_board.h
View File

@ -119,12 +119,12 @@
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS 3
#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_mag_pressure_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id)
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id)
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
// -------------------------