From 9443dd63454844264214c76f6adfcfa9f32d3fa4 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Wed, 21 Apr 2021 10:06:35 -0700 Subject: [PATCH] pwm_out:use inttypes, match signature --- src/drivers/pwm_out/PWMOut.cpp | 39 ++++++++++++++++++---------------- 1 file changed, 21 insertions(+), 18 deletions(-) diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp index c36c7bc68d..6ea6a6a052 100644 --- a/src/drivers/pwm_out/PWMOut.cpp +++ b/src/drivers/pwm_out/PWMOut.cpp @@ -381,7 +381,7 @@ int PWMOut::set_mode(Mode mode) * For Oneshot there is no rate, 0 is therefore used * to select Oneshot mode */ -int PWMOut::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) +int PWMOut::set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate) { PX4_DEBUG("pwm_out%u set_pwm_rate %x %u %u", _instance, rate_map, default_rate, alt_rate); @@ -416,7 +416,7 @@ int PWMOut::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_ if (pass == 0) { // preflight if ((alt != 0) && (alt != mask)) { - PX4_WARN("rate group %u mask %x bad overlap %x", group, mask, alt); + PX4_WARN("rate group %u mask %" PRIx32 " bad overlap %" PRIx32, group, mask, alt); // not a legal map, bail return -EINVAL; } @@ -540,7 +540,9 @@ void PWMOut::capture_trampoline(void *context, uint32_t chan_index, void PWMOut::capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow) { - fprintf(stdout, "FMU: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow); + fprintf(stdout, "FMU: Capture chan:%" PRId32 " time:%" PRId64 " state:%" PRId32 " overflow:%" PRId32 "\n", chan_index, + edge_time, edge_state, + overflow); } bool PWMOut::update_pwm_out_state(bool on) @@ -707,7 +709,7 @@ void PWMOut::update_params() if (param_get(param_find(str), &pwm_min) == PX4_OK) { if (pwm_min >= 0) { - _mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN); + _mixing_output.minValue(i) = math::constrain(pwm_min, (int32_t) PWM_LOWEST_MIN, (int32_t) PWM_HIGHEST_MIN); if (pwm_min != _mixing_output.minValue(i)) { int32_t pwm_min_new = _mixing_output.minValue(i); @@ -727,7 +729,7 @@ void PWMOut::update_params() if (param_get(param_find(str), &pwm_max) == PX4_OK) { if (pwm_max >= 0) { - _mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX); + _mixing_output.maxValue(i) = math::constrain(pwm_max, (int32_t) PWM_LOWEST_MAX, (int32_t) PWM_HIGHEST_MAX); if (pwm_max != _mixing_output.maxValue(i)) { int32_t pwm_max_new = _mixing_output.maxValue(i); @@ -747,7 +749,7 @@ void PWMOut::update_params() if (param_get(param_find(str), &pwm_failsafe) == PX4_OK) { if (pwm_failsafe >= 0) { - _mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX); + _mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX); if (pwm_failsafe != _mixing_output.failsafeValue(i)) { int32_t pwm_fail_new = _mixing_output.failsafeValue(i); @@ -764,7 +766,7 @@ void PWMOut::update_params() if (param_get(param_find(str), &pwm_dis) == PX4_OK) { if (pwm_dis >= 0) { - _mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX); + _mixing_output.disarmedValue(i) = math::constrain(pwm_dis, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX); if (pwm_dis != _mixing_output.disarmedValue(i)) { int32_t pwm_dis_new = _mixing_output.disarmedValue(i); @@ -1863,7 +1865,7 @@ int PWMOut::test(const char *dev) PX4_INFO("Not in a capture mode"); } - PX4_INFO("Testing %u servos and %u input captures", (unsigned)servo_count, capture_count); + PX4_INFO("Testing %u servos and %u input captures", servo_count, capture_count); memset(capture_conf, 0, sizeof(capture_conf)); if (capture_count != 0) { @@ -1873,7 +1875,7 @@ int PWMOut::test(const char *dev) /* Save handler */ if (::ioctl(fd, INPUT_CAP_GET_CALLBACK, (unsigned long)&capture_conf[i].chan.channel) != 0) { - PX4_ERR("Unable to get capture callback for chan %u\n", capture_conf[i].chan.channel); + PX4_ERR("Unable to get capture callback for chan %" PRIu8 "\n", capture_conf[i].chan.channel); goto err_out; } else { @@ -1885,7 +1887,7 @@ int PWMOut::test(const char *dev) capture_conf[i].valid = true; } else { - PX4_ERR("Unable to set capture callback for chan %u\n", capture_conf[i].chan.channel); + PX4_ERR("Unable to set capture callback for chan %" PRIu8 "\n", capture_conf[i].chan.channel); goto err_out; } } @@ -1938,12 +1940,12 @@ int PWMOut::test(const char *dev) servo_position_t value; if (::ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) { - PX4_ERR("error reading PWM servo %d", i); + PX4_ERR("error reading PWM servo %u", i); goto err_out; } if (value != servos[i]) { - PX4_ERR("servo %d readback error, got %u expected %u", i, value, servos[i]); + PX4_ERR("servo %u readback error, got %" PRIu16 " expected %" PRIu16, i, value, servos[i]); goto err_out; } } @@ -1955,11 +1957,12 @@ int PWMOut::test(const char *dev) stats.chan_in_edges_out = capture_conf[i].chan.channel; if (::ioctl(fd, INPUT_CAP_GET_STATS, (unsigned long)&stats) != 0) { - PX4_ERR("Unable to get stats for chan %u\n", capture_conf[i].chan.channel); + PX4_ERR("Unable to get stats for chan %" PRIu8 "\n", capture_conf[i].chan.channel); goto err_out; } else { - fprintf(stdout, "FMU: Status chan:%u edges: %d last time:%lld last state:%d overflows:%d lantency:%u\n", + fprintf(stdout, "FMU: Status chan:%" PRIu8 " edges: %" PRIu32 " last time:%" PRIu64 " last state:%" PRIu32 + " overflows:%" PRIu32 " lantency:%" PRIu16 "\n", capture_conf[i].chan.channel, stats.chan_in_edges_out, stats.last_time, @@ -1993,7 +1996,7 @@ int PWMOut::test(const char *dev) if (capture_conf[i].valid) { /* Save handler */ if (::ioctl(fd, INPUT_CAP_SET_CALLBACK, (unsigned long)&capture_conf[i].chan) != 0) { - PX4_ERR("Unable to set capture callback for chan %u\n", capture_conf[i].chan.channel); + PX4_ERR("Unable to set capture callback for chan %" PRIu8 "\n", capture_conf[i].chan.channel); goto err_out; } } @@ -2194,13 +2197,13 @@ int PWMOut::custom_command(int argc, char *argv[]) int PWMOut::print_status() { if (_class_instance == CLASS_DEVICE_PRIMARY) { - PX4_INFO("%d - PWM_MAIN 0x%04X", _instance, _pwm_mask); + PX4_INFO("%d - PWM_MAIN 0x%04" PRIx32, _instance, _pwm_mask); } else if (_class_instance == CLASS_DEVICE_SECONDARY) { - PX4_INFO("%d - PWM_AUX 0x%04X", _instance, _pwm_mask); + PX4_INFO("%d - PWM_AUX 0x%04" PRIx32, _instance, _pwm_mask); } else if (_class_instance == CLASS_DEVICE_TERTIARY) { - PX4_INFO("%d - PWM_EXTRA 0x%04X", _instance, _pwm_mask); + PX4_INFO("%d - PWM_EXTRA 0x%04" PRIx32, _instance, _pwm_mask); } PX4_INFO("%d - Max update rate: %i Hz", _instance, _current_update_rate);