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Remoce C++ style Doxygen comments
Replace C++ style comments with C comments
This commit is contained in:
Jean Cyr
@@ -50,53 +50,44 @@
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#include "px4io.h"
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//! The DSM dsm frame size in bytes
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#define DSM_FRAME_SIZE 16
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//! Maximum supported DSM channels
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#define DSM_FRAME_CHANNELS 7
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#define DSM_FRAME_SIZE 16 /**<DSM frame size in bytes*/
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#define DSM_FRAME_CHANNELS 7 /**<Max supported DSM channels*/
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//! File handle to the DSM UART
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int dsm_fd = -1;
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//! Timestamp when we last received
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hrt_abstime dsm_last_rx_time;
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//! Timestamp for start of last dsm_frame
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hrt_abstime dsm_last_frame_time;
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//! DSM dsm_frame receive buffer
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uint8_t dsm_frame[DSM_FRAME_SIZE];
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//! Count of bytes received for current dsm_frame
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unsigned dsm_partial_frame_count;
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//! Channel resolution, 0=unknown, 1=10 bit, 2=11 bit
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unsigned dsm_channel_shift;
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//! Count of incomplete DSM frames
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unsigned dsm_frame_drops;
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static int dsm_fd = -1; /**<File handle to the DSM UART*/
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static hrt_abstime dsm_last_rx_time; /**<Timestamp when we last received*/
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static hrt_abstime dsm_last_frame_time; /**<Timestamp for start of last dsm frame*/
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static uint8_t dsm_frame[DSM_FRAME_SIZE]; /**<DSM dsm frame receive buffer*/
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static unsigned dsm_partial_frame_count; /**<Count of bytes received for current dsm frame*/
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static unsigned dsm_channel_shift; /**<Channel resolution, 0=unknown, 1=10 bit, 2=11 bit*/
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static unsigned dsm_frame_drops; /**<Count of incomplete DSM frames*/
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/**
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* Attempt to decode a single channel raw channel datum
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*
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* The DSM* protocol doesn't provide any explicit framing,
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* so we detect dsm_frame boundaries by the inter-dsm_frame delay.
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* so we detect dsm frame boundaries by the inter-dsm frame delay.
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*
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* The minimum dsm_frame spacing is 11ms; with 16 bytes at 115200bps
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* dsm_frame transmission time is ~1.4ms.
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* The minimum dsm frame spacing is 11ms; with 16 bytes at 115200bps
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* dsm frame transmission time is ~1.4ms.
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*
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* We expect to only be called when bytes arrive for processing,
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* and if an interval of more than 5ms passes between calls,
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* the first byte we read will be the first byte of a dsm_frame.
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* the first byte we read will be the first byte of a dsm frame.
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*
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* In the case where byte(s) are dropped from a dsm_frame, this also
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* In the case where byte(s) are dropped from a dsm frame, this also
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* provides a degree of protection. Of course, it would be better
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* if we didn't drop bytes...
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*
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* Upon receiving a full dsm_frame we attempt to decode it
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* Upon receiving a full dsm frame we attempt to decode it
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*
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* @param[in] raw 16 bit raw channel value from dsm_frame
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* @param[in] raw 16 bit raw channel value from dsm frame
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* @param[in] shift position of channel number in raw data
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* @param[out] channel pointer to returned channel number
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* @param[out] value pointer to returned channel value
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* @return true=raw value successfully decoded
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*/
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bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value);
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bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value)
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static bool
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dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value)
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{
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if (raw == 0xffff)
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@@ -115,10 +106,10 @@ bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigne
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/**
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* Attempt to guess if receiving 10 or 11 bit channel values
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*
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* @param[in] reset true=reset the 10/11 bit state to unknow
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* @param[in] reset true=reset the 10/11 bit state to unknown
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*/
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void dsm_guess_format(bool reset);
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void dsm_guess_format(bool reset)
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static void
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dsm_guess_format(bool reset)
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{
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static uint32_t cs10;
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static uint32_t cs11;
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@@ -209,7 +200,8 @@ void dsm_guess_format(bool reset)
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*
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* @param[in] device Device name of DSM UART
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*/
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int dsm_init(const char *device)
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int
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dsm_init(const char *device)
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{
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if (dsm_fd < 0)
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dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
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@@ -248,7 +240,8 @@ int dsm_init(const char *device)
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* @param[in] cmd commands - dsm_bind_power_down, dsm_bind_power_up, dsm_bind_set_rx_out, dsm_bind_send_pulses, dsm_bind_reinit_uart
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* @param[in] pulses Number of pulses for dsm_bind_send_pulses command
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*/
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void dsm_bind(uint16_t cmd, int pulses)
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void
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dsm_bind(uint16_t cmd, int pulses)
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{
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const uint32_t usart1RxAsOutp =
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GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10;
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@@ -260,26 +253,26 @@ void dsm_bind(uint16_t cmd, int pulses)
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case dsm_bind_power_down:
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//! power down DSM satellite
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/*power down DSM satellite*/
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POWER_RELAY1(0);
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break;
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case dsm_bind_power_up:
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//! power up DSM satellite
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/*power up DSM satellite*/
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POWER_RELAY1(1);
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dsm_guess_format(true);
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break;
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case dsm_bind_set_rx_out:
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//! Set UART RX pin to active output mode
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/*Set UART RX pin to active output mode*/
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stm32_configgpio(usart1RxAsOutp);
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break;
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case dsm_bind_send_pulses:
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//! Pulse RX pin a number of times
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/*Pulse RX pin a number of times*/
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for (int i = 0; i < pulses; i++) {
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stm32_gpiowrite(usart1RxAsOutp, false);
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up_udelay(25);
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@@ -290,7 +283,7 @@ void dsm_bind(uint16_t cmd, int pulses)
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case dsm_bind_reinit_uart:
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//! Restore USART RX pin to RS232 receive mode
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/*Restore USART RX pin to RS232 receive mode*/
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stm32_configgpio(GPIO_USART1_RX);
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break;
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@@ -298,15 +291,15 @@ void dsm_bind(uint16_t cmd, int pulses)
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}
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/**
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* Decode the entire dsm_frame (all contained channels)
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* Decode the entire dsm frame (all contained channels)
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*
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* @param[in] frame_time timestamp when this dsm_frame was received. Used to detect RX loss in order to reset 10/11 bit guess.
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* @param[in] frame_time timestamp when this dsm frame was received. Used to detect RX loss in order to reset 10/11 bit guess.
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* @param[out] values pointer to per channel array of decoded values
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* @param[out] num_values pointer to number of raw channel values returned
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* @return true=dsm_frame successfully decoded
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* @return true=DSM frame successfully decoded, false=no update
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*/
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bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values);
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bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
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static bool
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dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
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{
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/*
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debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
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@@ -402,26 +395,23 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
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* Called periodically to check for input data from the DSM UART
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*
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* The DSM* protocol doesn't provide any explicit framing,
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* so we detect dsm_frame boundaries by the inter-dsm_frame delay.
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*
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* The minimum dsm_frame spacing is 11ms; with 16 bytes at 115200bps
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* dsm_frame transmission time is ~1.4ms.
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*
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* so we detect dsm frame boundaries by the inter-dsm frame delay.
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* The minimum dsm frame spacing is 11ms; with 16 bytes at 115200bps
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* dsm frame transmission time is ~1.4ms.
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* We expect to only be called when bytes arrive for processing,
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* and if an interval of more than 5ms passes between calls,
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* the first byte we read will be the first byte of a dsm_frame.
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*
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* In the case where byte(s) are dropped from a dsm_frame, this also
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* the first byte we read will be the first byte of a dsm frame.
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* In the case where byte(s) are dropped from a dsm frame, this also
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* provides a degree of protection. Of course, it would be better
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* if we didn't drop bytes...
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*
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* Upon receiving a full dsm_frame we attempt to decode it
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* Upon receiving a full dsm frame we attempt to decode it.
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*
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* @param[out] values pointer to per channel array of decoded values
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* @param[out] num_values pointer to number of raw channel values returned
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* @return true=decode raw channel values updated
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* @return true=decoded raw channel values updated, false=no update
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*/
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bool dsm_input(uint16_t *values, uint16_t *num_values)
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bool
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dsm_input(uint16_t *values, uint16_t *num_values)
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{
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ssize_t ret;
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hrt_abstime now;
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@@ -439,7 +429,7 @@ bool dsm_input(uint16_t *values, uint16_t *num_values)
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/*
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* Fetch bytes, but no more than we would need to complete
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* the current dsm_frame.
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* the current dsm frame.
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*/
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ret = read(dsm_fd, &dsm_frame[dsm_partial_frame_count], DSM_FRAME_SIZE - dsm_partial_frame_count);
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@@ -450,18 +440,18 @@ bool dsm_input(uint16_t *values, uint16_t *num_values)
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dsm_last_rx_time = now;
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/*
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* Add bytes to the current dsm_frame
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* Add bytes to the current dsm frame
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*/
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dsm_partial_frame_count += ret;
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/*
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* If we don't have a full dsm_frame, return
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* If we don't have a full dsm frame, return
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*/
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if (dsm_partial_frame_count < DSM_FRAME_SIZE)
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return false;
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/*
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* Great, it looks like we might have a dsm_frame. Go ahead and
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* Great, it looks like we might have a dsm frame. Go ahead and
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* decode it.
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*/
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dsm_partial_frame_count = 0;
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@@ -184,7 +184,7 @@ extern void controls_init(void);
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extern void controls_tick(void);
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extern int dsm_init(const char *device);
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extern bool dsm_input(uint16_t *values, uint16_t *num_values);
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extern void dsm_bind(uint16_t cmd, int pulses);
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extern void dsm_bind(uint16_t cmd, int pulses);
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extern int sbus_init(const char *device);
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extern bool sbus_input(uint16_t *values, uint16_t *num_values);
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@@ -192,9 +192,9 @@ extern bool sbus_input(uint16_t *values, uint16_t *num_values);
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extern volatile uint8_t debug_level;
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/* send a debug message to the console */
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extern void isr_debug(uint8_t level, const char *fmt, ...);
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extern void isr_debug(uint8_t level, const char *fmt, ...);
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#ifdef CONFIG_STM32_I2C1
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void i2c_dump(void);
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void i2c_reset(void);
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void i2c_dump(void);
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void i2c_reset(void);
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#endif
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