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Remoce C++ style Doxygen comments

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Replace C++ style comments with C comments
This commit is contained in:
Jean Cyr
2013-08-16 18:35:52 -04:00
parent b38a53740d
commit bafc5ea8a1
2 changed files with 52 additions and 62 deletions
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src/modules/px4iofirmware/dsm.c
+48 -58
View File
@@ -50,53 +50,44 @@
#include "px4io.h" #include "px4io.h"
//! The DSM dsm frame size in bytes #define DSM_FRAME_SIZE 16 /**<DSM frame size in bytes*/
#define DSM_FRAME_SIZE 16 #define DSM_FRAME_CHANNELS 7 /**<Max supported DSM channels*/
//! Maximum supported DSM channels
#define DSM_FRAME_CHANNELS 7
//! File handle to the DSM UART static int dsm_fd = -1; /**<File handle to the DSM UART*/
int dsm_fd = -1; static hrt_abstime dsm_last_rx_time; /**<Timestamp when we last received*/
//! Timestamp when we last received static hrt_abstime dsm_last_frame_time; /**<Timestamp for start of last dsm frame*/
hrt_abstime dsm_last_rx_time; static uint8_t dsm_frame[DSM_FRAME_SIZE]; /**<DSM dsm frame receive buffer*/
//! Timestamp for start of last dsm_frame static unsigned dsm_partial_frame_count; /**<Count of bytes received for current dsm frame*/
hrt_abstime dsm_last_frame_time; static unsigned dsm_channel_shift; /**<Channel resolution, 0=unknown, 1=10 bit, 2=11 bit*/
//! DSM dsm_frame receive buffer static unsigned dsm_frame_drops; /**<Count of incomplete DSM frames*/
uint8_t dsm_frame[DSM_FRAME_SIZE];
//! Count of bytes received for current dsm_frame
unsigned dsm_partial_frame_count;
//! Channel resolution, 0=unknown, 1=10 bit, 2=11 bit
unsigned dsm_channel_shift;
//! Count of incomplete DSM frames
unsigned dsm_frame_drops;
/** /**
* Attempt to decode a single channel raw channel datum * Attempt to decode a single channel raw channel datum
* *
* The DSM* protocol doesn't provide any explicit framing, * The DSM* protocol doesn't provide any explicit framing,
* so we detect dsm_frame boundaries by the inter-dsm_frame delay. * so we detect dsm frame boundaries by the inter-dsm frame delay.
* *
* The minimum dsm_frame spacing is 11ms; with 16 bytes at 115200bps * The minimum dsm frame spacing is 11ms; with 16 bytes at 115200bps
* dsm_frame transmission time is ~1.4ms. * dsm frame transmission time is ~1.4ms.
* *
* We expect to only be called when bytes arrive for processing, * We expect to only be called when bytes arrive for processing,
* and if an interval of more than 5ms passes between calls, * and if an interval of more than 5ms passes between calls,
* the first byte we read will be the first byte of a dsm_frame. * the first byte we read will be the first byte of a dsm frame.
* *
* In the case where byte(s) are dropped from a dsm_frame, this also * In the case where byte(s) are dropped from a dsm frame, this also
* provides a degree of protection. Of course, it would be better * provides a degree of protection. Of course, it would be better
* if we didn't drop bytes... * if we didn't drop bytes...
* *
* Upon receiving a full dsm_frame we attempt to decode it * Upon receiving a full dsm frame we attempt to decode it
* *
* @param[in] raw 16 bit raw channel value from dsm_frame * @param[in] raw 16 bit raw channel value from dsm frame
* @param[in] shift position of channel number in raw data * @param[in] shift position of channel number in raw data
* @param[out] channel pointer to returned channel number * @param[out] channel pointer to returned channel number
* @param[out] value pointer to returned channel value * @param[out] value pointer to returned channel value
* @return true=raw value successfully decoded * @return true=raw value successfully decoded
*/ */
bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value); static bool
bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value) dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value)
{ {
if (raw == 0xffff) if (raw == 0xffff)
@@ -115,10 +106,10 @@ bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigne
/** /**
* Attempt to guess if receiving 10 or 11 bit channel values * Attempt to guess if receiving 10 or 11 bit channel values
* *
* @param[in] reset true=reset the 10/11 bit state to unknow * @param[in] reset true=reset the 10/11 bit state to unknown
*/ */
void dsm_guess_format(bool reset); static void
void dsm_guess_format(bool reset) dsm_guess_format(bool reset)
{ {
static uint32_t cs10; static uint32_t cs10;
static uint32_t cs11; static uint32_t cs11;
@@ -209,7 +200,8 @@ void dsm_guess_format(bool reset)
* *
* @param[in] device Device name of DSM UART * @param[in] device Device name of DSM UART
*/ */
int dsm_init(const char *device) int
dsm_init(const char *device)
{ {
if (dsm_fd < 0) if (dsm_fd < 0)
dsm_fd = open(device, O_RDONLY | O_NONBLOCK); dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
@@ -248,7 +240,8 @@ int dsm_init(const char *device)
* @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 * @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
* @param[in] pulses Number of pulses for dsm_bind_send_pulses command * @param[in] pulses Number of pulses for dsm_bind_send_pulses command
*/ */
void dsm_bind(uint16_t cmd, int pulses) void
dsm_bind(uint16_t cmd, int pulses)
{ {
const uint32_t usart1RxAsOutp = const uint32_t usart1RxAsOutp =
GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10; GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10;
@@ -260,26 +253,26 @@ void dsm_bind(uint16_t cmd, int pulses)
case dsm_bind_power_down: case dsm_bind_power_down:
//! power down DSM satellite /*power down DSM satellite*/
POWER_RELAY1(0); POWER_RELAY1(0);
break; break;
case dsm_bind_power_up: case dsm_bind_power_up:
//! power up DSM satellite /*power up DSM satellite*/
POWER_RELAY1(1); POWER_RELAY1(1);
dsm_guess_format(true); dsm_guess_format(true);
break; break;
case dsm_bind_set_rx_out: case dsm_bind_set_rx_out:
//! Set UART RX pin to active output mode /*Set UART RX pin to active output mode*/
stm32_configgpio(usart1RxAsOutp); stm32_configgpio(usart1RxAsOutp);
break; break;
case dsm_bind_send_pulses: case dsm_bind_send_pulses:
//! Pulse RX pin a number of times /*Pulse RX pin a number of times*/
for (int i = 0; i < pulses; i++) { for (int i = 0; i < pulses; i++) {
stm32_gpiowrite(usart1RxAsOutp, false); stm32_gpiowrite(usart1RxAsOutp, false);
up_udelay(25); up_udelay(25);
@@ -290,7 +283,7 @@ void dsm_bind(uint16_t cmd, int pulses)
case dsm_bind_reinit_uart: case dsm_bind_reinit_uart:
//! Restore USART RX pin to RS232 receive mode /*Restore USART RX pin to RS232 receive mode*/
stm32_configgpio(GPIO_USART1_RX); stm32_configgpio(GPIO_USART1_RX);
break; break;
@@ -298,15 +291,15 @@ void dsm_bind(uint16_t cmd, int pulses)
} }
/** /**
* Decode the entire dsm_frame (all contained channels) * Decode the entire dsm frame (all contained channels)
* *
* @param[in] frame_time timestamp when this dsm_frame was received. Used to detect RX loss in order to reset 10/11 bit guess. * @param[in] frame_time timestamp when this dsm frame was received. Used to detect RX loss in order to reset 10/11 bit guess.
* @param[out] values pointer to per channel array of decoded values * @param[out] values pointer to per channel array of decoded values
* @param[out] num_values pointer to number of raw channel values returned * @param[out] num_values pointer to number of raw channel values returned
* @return true=dsm_frame successfully decoded * @return true=DSM frame successfully decoded, false=no update
*/ */
bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values); static bool
bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
{ {
/* /*
debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x", debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
@@ -402,26 +395,23 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
* Called periodically to check for input data from the DSM UART * Called periodically to check for input data from the DSM UART
* *
* The DSM* protocol doesn't provide any explicit framing, * The DSM* protocol doesn't provide any explicit framing,
* so we detect dsm_frame boundaries by the inter-dsm_frame delay. * so we detect dsm frame boundaries by the inter-dsm frame delay.
* * The minimum dsm frame spacing is 11ms; with 16 bytes at 115200bps
* The minimum dsm_frame spacing is 11ms; with 16 bytes at 115200bps * dsm frame transmission time is ~1.4ms.
* dsm_frame transmission time is ~1.4ms.
*
* We expect to only be called when bytes arrive for processing, * We expect to only be called when bytes arrive for processing,
* and if an interval of more than 5ms passes between calls, * and if an interval of more than 5ms passes between calls,
* the first byte we read will be the first byte of a dsm_frame. * the first byte we read will be the first byte of a dsm frame.
* * In the case where byte(s) are dropped from a dsm frame, this also
* In the case where byte(s) are dropped from a dsm_frame, this also
* provides a degree of protection. Of course, it would be better * provides a degree of protection. Of course, it would be better
* if we didn't drop bytes... * if we didn't drop bytes...
* * Upon receiving a full dsm frame we attempt to decode it.
* Upon receiving a full dsm_frame we attempt to decode it
* *
* @param[out] values pointer to per channel array of decoded values * @param[out] values pointer to per channel array of decoded values
* @param[out] num_values pointer to number of raw channel values returned * @param[out] num_values pointer to number of raw channel values returned
* @return true=decode raw channel values updated * @return true=decoded raw channel values updated, false=no update
*/ */
bool dsm_input(uint16_t *values, uint16_t *num_values) bool
dsm_input(uint16_t *values, uint16_t *num_values)
{ {
ssize_t ret; ssize_t ret;
hrt_abstime now; hrt_abstime now;
@@ -439,7 +429,7 @@ bool dsm_input(uint16_t *values, uint16_t *num_values)
/* /*
* Fetch bytes, but no more than we would need to complete * Fetch bytes, but no more than we would need to complete
* the current dsm_frame. * the current dsm frame.
*/ */
ret = read(dsm_fd, &dsm_frame[dsm_partial_frame_count], DSM_FRAME_SIZE - dsm_partial_frame_count); ret = read(dsm_fd, &dsm_frame[dsm_partial_frame_count], DSM_FRAME_SIZE - dsm_partial_frame_count);
@@ -450,18 +440,18 @@ bool dsm_input(uint16_t *values, uint16_t *num_values)
dsm_last_rx_time = now; dsm_last_rx_time = now;
/* /*
* Add bytes to the current dsm_frame * Add bytes to the current dsm frame
*/ */
dsm_partial_frame_count += ret; dsm_partial_frame_count += ret;
/* /*
* If we don't have a full dsm_frame, return * If we don't have a full dsm frame, return
*/ */
if (dsm_partial_frame_count < DSM_FRAME_SIZE) if (dsm_partial_frame_count < DSM_FRAME_SIZE)
return false; return false;
/* /*
* Great, it looks like we might have a dsm_frame. Go ahead and * Great, it looks like we might have a dsm frame. Go ahead and
* decode it. * decode it.
*/ */
dsm_partial_frame_count = 0; dsm_partial_frame_count = 0;
src/modules/px4iofirmware/px4io.h
+4 -4
View File
@@ -184,7 +184,7 @@ extern void controls_init(void);
extern void controls_tick(void); extern void controls_tick(void);
extern int dsm_init(const char *device); extern int dsm_init(const char *device);
extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses); extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device); extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values); extern bool sbus_input(uint16_t *values, uint16_t *num_values);
@@ -192,9 +192,9 @@ extern bool sbus_input(uint16_t *values, uint16_t *num_values);
extern volatile uint8_t debug_level; extern volatile uint8_t debug_level;
/* send a debug message to the console */ /* send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...); extern void isr_debug(uint8_t level, const char *fmt, ...);
#ifdef CONFIG_STM32_I2C1 #ifdef CONFIG_STM32_I2C1
void i2c_dump(void); void i2c_dump(void);
void i2c_reset(void); void i2c_reset(void);
#endif #endif