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[intermcu] style fix
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@flixr
flixr committed Oct 7, 2014
1 parent 1b951fd commit a4d202d
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Showing 3 changed files with 59 additions and 60 deletions.
6 changes: 3 additions & 3 deletions conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
View file
Expand Up @@ -4,9 +4,9 @@

ifneq ($(TARGET),sim)
$(TARGET).CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
$(TARGET).srcs += ./link_mcu_can.c
$(TARGET).srcs += ./mcu_periph/can.c
$(TARGET).srcs += link_mcu_can.c
$(TARGET).srcs += mcu_periph/can.c
$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/can_arch.c
endif

SEPARATE_FBW=1
SEPARATE_FBW=1
105 changes: 52 additions & 53 deletions sw/airborne/link_mcu_can.c
View file
Expand Up @@ -53,21 +53,19 @@ union {
// READ MESSAGES


void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len);
void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len)
void link_mcu_on_can_msg(uint32_t id, uint8_t* data, int len);
void link_mcu_on_can_msg(uint32_t id, uint8_t* data, int len)
{
#if COMMANDS_NB > 8
#error "INTERMCU_CAN CAN ONLY SEND 4 OR 8 COMMANDS (packets of 8 bytes)"
#endif
#if RADIO_CONTROL_NB_CHANNEL > 8
#warning "INTERMCU_CAN CAN ONLY SEND 8 RADIO CHANNELS: CHANNELS 9 and higher will not be sent"
#endif
if (len){}//Remove compile warning
if (len) {} //Remove compile warning

if (id == MSG_INTERMCU_COMMAND_MASTER_ID)
{
for (int i=0; (i<4) && (i<COMMANDS_NB); i++)
{
if (id == MSG_INTERMCU_COMMAND_MASTER_ID) {
for (int i = 0; (i < 4) && (i < COMMANDS_NB); i++) {
ap_state->commands[i] = INTERMCU_COMMAND(data, i);
}
#ifdef LINK_MCU_LED
Expand All @@ -76,39 +74,31 @@ void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len)
inter_mcu_received_ap = TRUE;
}

if (id == MSG_INTERMCU_COMMAND_EXTRA_ID)
{
for (int i=0; (i<4) && (i<(COMMANDS_NB-4)); i++)
{
ap_state->commands[4+i] = INTERMCU_COMMAND(data, i);
if (id == MSG_INTERMCU_COMMAND_EXTRA_ID) {
for (int i = 0; (i < 4) && (i < (COMMANDS_NB - 4)); i++) {
ap_state->commands[4 + i] = INTERMCU_COMMAND(data, i);
}
}


if (id == MSG_INTERMCU_TRIM_ID)
{
ap_state->command_roll_trim = ((pprz_t) INTERMCU_COMMAND(data,0));
ap_state->command_pitch_trim = ((pprz_t) INTERMCU_COMMAND(data,1));
if (id == MSG_INTERMCU_TRIM_ID) {
ap_state->command_roll_trim = ((pprz_t) INTERMCU_COMMAND(data, 0));
ap_state->command_pitch_trim = ((pprz_t) INTERMCU_COMMAND(data, 1));
}

if (id == MSG_INTERMCU_RADIO_LOW_ID)
{
for (int i=0; (i<4) && (i< RADIO_CONTROL_NB_CHANNEL); i++)
{
if (id == MSG_INTERMCU_RADIO_LOW_ID) {
for (int i = 0; (i < 4) && (i < RADIO_CONTROL_NB_CHANNEL); i++) {
fbw_state->channels[i] = ((pprz_t)INTERMCU_COMMAND(data, i));
}
}

if (id == MSG_INTERMCU_RADIO_HIGH_ID)
{
for (int i=0; (i<4) && (i< (RADIO_CONTROL_NB_CHANNEL-4)); i++)
{
fbw_state->channels[4+i] = ((pprz_t)INTERMCU_COMMAND(data, i));
if (id == MSG_INTERMCU_RADIO_HIGH_ID) {
for (int i = 0; (i < 4) && (i < (RADIO_CONTROL_NB_CHANNEL - 4)); i++) {
fbw_state->channels[4 + i] = ((pprz_t)INTERMCU_COMMAND(data, i));
}
}

if ((id == MSG_INTERMCU_FBW_STATUS_ID) && (len == 5))
{
if ((id == MSG_INTERMCU_FBW_STATUS_ID) && (len == 5)) {
fbw_state->ppm_cpt = data[0];
fbw_state->status = data[1];
fbw_state->nb_err = data[2];
Expand All @@ -127,12 +117,14 @@ void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len)


#ifdef AP
void link_mcu_send( void )
void link_mcu_send(void)
{
for (int i=0; (i<COMMANDS_NB) && (i<4);i++)
for (int i = 0; (i < COMMANDS_NB) && (i < 4); i++) {
imcu_cmd_mstr.cmd[i] = ap_state->commands[i];
for (int i=0; (i<(COMMANDS_NB-4)) && (i<4);i++)
imcu_cmd_ext.cmd[i] = ap_state->commands[4+i];
}
for (int i = 0; (i < (COMMANDS_NB - 4)) && (i < 4); i++) {
imcu_cmd_ext.cmd[i] = ap_state->commands[4 + i];
}

ppz_can_transmit(MSG_INTERMCU_COMMAND_MASTER_ID, imcu_cmd_mstr.data, 8);
ppz_can_transmit(MSG_INTERMCU_COMMAND_EXTRA_ID, imcu_cmd_ext.data, 8);
Expand All @@ -145,7 +137,7 @@ void link_mcu_send( void )
#endif

#ifdef FBW
void link_mcu_periodic_task( void )
void link_mcu_periodic_task(void)
{
// Import: Prepare the next message for AP
inter_mcu_fill_fbw_state();
Expand All @@ -156,18 +148,19 @@ void link_mcu_periodic_task( void )
intermcu_tx_buff[1] = fbw_state->status;
intermcu_tx_buff[2] = fbw_state->nb_err;
intermcu_tx_buff[3] = (uint8_t) fbw_state->vsupply;
intermcu_tx_buff[4] = (uint8_t) ((fbw_state->vsupply & 0xff00) >> 8);
intermcu_tx_buff[4] = (uint8_t)((fbw_state->vsupply & 0xff00) >> 8);
ppz_can_transmit(MSG_INTERMCU_FBW_STATUS_ID, intermcu_tx_buff, 5);

#if defined RADIO_CONTROL || RADIO_CONTROL_AUTO1
// Copy the CHANNELS to the 2 CAN buffers
for (int i=0; (i<RADIO_CONTROL_NB_CHANNEL) && (i<4);i++)
for (int i = 0; (i < RADIO_CONTROL_NB_CHANNEL) && (i < 4); i++) {
imcu_chan1.cmd[i] = fbw_state->channels[i];
for (int i=0; (i<(RADIO_CONTROL_NB_CHANNEL-4)) && (i<4);i++)
imcu_chan2.cmd[i] = fbw_state->channels[4+i];
}
for (int i = 0; (i < (RADIO_CONTROL_NB_CHANNEL - 4)) && (i < 4); i++) {
imcu_chan2.cmd[i] = fbw_state->channels[4 + i];
}

if (bit_is_set(fbw_state->status, RC_OK))
{
if (bit_is_set(fbw_state->status, RC_OK)) {
ppz_can_transmit(MSG_INTERMCU_RADIO_LOW_ID, imcu_chan1.data, 8);
ppz_can_transmit(MSG_INTERMCU_RADIO_HIGH_ID, imcu_chan2.data, 8);
}
Expand All @@ -191,41 +184,47 @@ struct link_mcu_msg link_mcu_from_fbw_msg;
#define RC_REALLY_LOST 2


static void send_commands(void) {
static void send_commands(void)
{
DOWNLINK_SEND_COMMANDS(DefaultChannel, DefaultDevice, COMMANDS_NB, ap_state->commands);
}

static void send_fbw_status(void) {
static void send_fbw_status(void)
{
uint8_t rc_status = 0;
uint8_t fbw_status = 0;
if (bit_is_set(fbw_state->status, STATUS_MODE_AUTO))
if (bit_is_set(fbw_state->status, STATUS_MODE_AUTO)) {
fbw_status = FBW_MODE_AUTO;
if (bit_is_set(fbw_state->status, STATUS_MODE_FAILSAFE))
}
if (bit_is_set(fbw_state->status, STATUS_MODE_FAILSAFE)) {
fbw_status = FBW_MODE_FAILSAFE;
if (bit_is_set(fbw_state->status, STATUS_RADIO_REALLY_LOST))
}
if (bit_is_set(fbw_state->status, STATUS_RADIO_REALLY_LOST)) {
rc_status = RC_REALLY_LOST;
else if (bit_is_set(fbw_state->status, RC_OK))
} else if (bit_is_set(fbw_state->status, RC_OK)) {
rc_status = RC_OK;
else
} else {
rc_status = RC_LOST;
}
DOWNLINK_SEND_FBW_STATUS(DefaultChannel, DefaultDevice,
&(rc_status), &(fbw_state->ppm_cpt), &(fbw_status), &(fbw_state->vsupply), &(fbw_state->current));
&(rc_status), &(fbw_state->ppm_cpt), &(fbw_status), &(fbw_state->vsupply), &(fbw_state->current));
}
#endif

void link_mcu_init( void )
void link_mcu_init(void)
{
ppz_can_init(link_mcu_on_can_msg);

#ifdef AP
#if PERIODIC_TELEMETRY
// If FBW has not telemetry, then AP can send some of the info
register_periodic_telemetry(DefaultPeriodic, "COMMANDS", send_commands);
register_periodic_telemetry(DefaultPeriodic, "FBW_STATUS", send_fbw_status);
#endif
#if PERIODIC_TELEMETRY
// If FBW has not telemetry, then AP can send some of the info
register_periodic_telemetry(DefaultPeriodic, "COMMANDS", send_commands);
register_periodic_telemetry(DefaultPeriodic, "FBW_STATUS", send_fbw_status);
#endif
#endif
}

void link_mcu_event_task( void ) {
void link_mcu_event_task(void)
{
// No event function: CAN_RX_IRQ is called on reception of data
}
8 changes: 4 additions & 4 deletions sw/airborne/link_mcu_can.h
View file
Expand Up @@ -42,10 +42,10 @@ extern struct link_mcu_msg link_mcu_from_fbw_msg;

extern bool_t link_mcu_received;

extern void link_mcu_send( void );
extern void link_mcu_init( void );
extern void link_mcu_event_task( void );
extern void link_mcu_periodic_task( void );
extern void link_mcu_send(void);
extern void link_mcu_init(void);
extern void link_mcu_event_task(void);
extern void link_mcu_periodic_task(void);


#endif /* LINK_MCU_CAN_H */

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