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Fix code style for system lib

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This commit is contained in:
Lorenz Meier
2015-09-06 11:59:50 +02:00
parent aa88888c6a
commit fba569f12c
19 changed files with 816 additions and 646 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+117 -100
View File
@@ -56,48 +56,57 @@ void pwm_limit_init(pwm_limit_t *limit)
}
void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels, const uint16_t reverse_mask,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
{
/* first evaluate state changes */
switch (limit->state) {
case PWM_LIMIT_STATE_INIT:
case PWM_LIMIT_STATE_INIT:
if (armed) {
if (armed) {
/* set arming time for the first call */
if (limit->time_armed == 0) {
limit->time_armed = hrt_absolute_time();
}
if (hrt_elapsed_time(&limit->time_armed) >= INIT_TIME_US) {
limit->state = PWM_LIMIT_STATE_OFF;
}
}
break;
case PWM_LIMIT_STATE_OFF:
if (armed) {
limit->state = PWM_LIMIT_STATE_RAMP;
/* reset arming time, used for ramp timing */
/* set arming time for the first call */
if (limit->time_armed == 0) {
limit->time_armed = hrt_absolute_time();
}
break;
case PWM_LIMIT_STATE_RAMP:
if (!armed) {
limit->state = PWM_LIMIT_STATE_OFF;
} else if (hrt_elapsed_time(&limit->time_armed) >= RAMP_TIME_US) {
limit->state = PWM_LIMIT_STATE_ON;
}
break;
case PWM_LIMIT_STATE_ON:
if (!armed) {
if (hrt_elapsed_time(&limit->time_armed) >= INIT_TIME_US) {
limit->state = PWM_LIMIT_STATE_OFF;
}
break;
default:
break;
}
break;
case PWM_LIMIT_STATE_OFF:
if (armed) {
limit->state = PWM_LIMIT_STATE_RAMP;
/* reset arming time, used for ramp timing */
limit->time_armed = hrt_absolute_time();
}
break;
case PWM_LIMIT_STATE_RAMP:
if (!armed) {
limit->state = PWM_LIMIT_STATE_OFF;
} else if (hrt_elapsed_time(&limit->time_armed) >= RAMP_TIME_US) {
limit->state = PWM_LIMIT_STATE_ON;
}
break;
case PWM_LIMIT_STATE_ON:
if (!armed) {
limit->state = PWM_LIMIT_STATE_OFF;
}
break;
default:
break;
}
/* if the system is pre-armed, the limit state is temporarily on,
@@ -107,7 +116,7 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
* regular arming time.
*/
unsigned local_limit_state = limit->state;
unsigned local_limit_state = limit->state;
if (pre_armed) {
local_limit_state = PWM_LIMIT_STATE_ON;
@@ -117,69 +126,24 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
/* then set effective_pwm based on state */
switch (local_limit_state) {
case PWM_LIMIT_STATE_OFF:
case PWM_LIMIT_STATE_INIT:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = disarmed_pwm[i];
case PWM_LIMIT_STATE_OFF:
case PWM_LIMIT_STATE_INIT:
for (unsigned i = 0; i < num_channels; i++) {
effective_pwm[i] = disarmed_pwm[i];
}
break;
case PWM_LIMIT_STATE_RAMP: {
hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
if (progress > PROGRESS_INT_SCALING) {
progress = PROGRESS_INT_SCALING;
}
break;
case PWM_LIMIT_STATE_RAMP:
{
hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
if (progress > PROGRESS_INT_SCALING) {
progress = PROGRESS_INT_SCALING;
}
for (unsigned i=0; i<num_channels; i++) {
float control_value = output[i];
/* check for invalid / disabled channels */
if (!isfinite(control_value)) {
effective_pwm[i] = disarmed_pwm[i];
continue;
}
uint16_t ramp_min_pwm;
/* if a disarmed pwm value was set, blend between disarmed and min */
if (disarmed_pwm[i] > 0) {
/* safeguard against overflows */
unsigned disarmed = disarmed_pwm[i];
if (disarmed > min_pwm[i]) {
disarmed = min_pwm[i];
}
unsigned disarmed_min_diff = min_pwm[i] - disarmed;
ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
} else {
/* no disarmed pwm value set, choose min pwm */
ramp_min_pwm = min_pwm[i];
}
if (reverse_mask & (1 << i)) {
control_value = -1.0f * control_value;
}
effective_pwm[i] = control_value * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < ramp_min_pwm) {
effective_pwm[i] = ramp_min_pwm;
} else if (effective_pwm[i] > max_pwm[i]) {
effective_pwm[i] = max_pwm[i];
}
}
}
break;
case PWM_LIMIT_STATE_ON:
for (unsigned i=0; i<num_channels; i++) {
for (unsigned i = 0; i < num_channels; i++) {
float control_value = output[i];
@@ -189,22 +153,75 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
continue;
}
uint16_t ramp_min_pwm;
/* if a disarmed pwm value was set, blend between disarmed and min */
if (disarmed_pwm[i] > 0) {
/* safeguard against overflows */
unsigned disarmed = disarmed_pwm[i];
if (disarmed > min_pwm[i]) {
disarmed = min_pwm[i];
}
unsigned disarmed_min_diff = min_pwm[i] - disarmed;
ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
} else {
/* no disarmed pwm value set, choose min pwm */
ramp_min_pwm = min_pwm[i];
}
if (reverse_mask & (1 << i)) {
control_value = -1.0f * control_value;
}
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
effective_pwm[i] = control_value * (max_pwm[i] - ramp_min_pwm) / 2 + (max_pwm[i] + ramp_min_pwm) / 2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {
effective_pwm[i] = min_pwm[i];
if (effective_pwm[i] < ramp_min_pwm) {
effective_pwm[i] = ramp_min_pwm;
} else if (effective_pwm[i] > max_pwm[i]) {
effective_pwm[i] = max_pwm[i];
}
}
break;
default:
break;
}
break;
case PWM_LIMIT_STATE_ON:
for (unsigned i = 0; i < num_channels; i++) {
float control_value = output[i];
/* check for invalid / disabled channels */
if (!isfinite(control_value)) {
effective_pwm[i] = disarmed_pwm[i];
continue;
}
if (reverse_mask & (1 << i)) {
control_value = -1.0f * control_value;
}
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i]) / 2 + (max_pwm[i] + min_pwm[i]) / 2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {
effective_pwm[i] = min_pwm[i];
} else if (effective_pwm[i] > max_pwm[i]) {
effective_pwm[i] = max_pwm[i];
}
}
break;
default:
break;
}
return;
}
src/modules/systemlib/pwm_limit/pwm_limit.h
+2 -1
View File
@@ -71,7 +71,8 @@ typedef struct {
__EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels, const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
__EXPORT void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels,
const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
__END_DECLS