diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index c42eca5a8..05a8e18f2 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -906,7 +906,7 @@ bool startedLoggingInTestMode = false; void startInTestMode(void) { - if(!startedLoggingInTestMode) { + if (!startedLoggingInTestMode) { if (blackboxConfig()->device == BLACKBOX_DEVICE_SERIAL) { serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP); if (sharedBlackboxAndMspPort) { @@ -919,7 +919,7 @@ void startInTestMode(void) } void stopInTestMode(void) { - if(startedLoggingInTestMode) { + if (startedLoggingInTestMode) { blackboxFinish(); startedLoggingInTestMode = false; } @@ -954,7 +954,7 @@ bool inMotorTestMode(void) { for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) atLeastOneMotorActivated |= (motor_disarmed[i] != inactiveMotorCommand); - if(atLeastOneMotorActivated) { + if (atLeastOneMotorActivated) { resetTime = millis() + 5000; // add 5 seconds return true; } else { @@ -1638,7 +1638,7 @@ void blackboxUpdate(timeUs_t currentTimeUs) blackboxSetState(BLACKBOX_STATE_ERASED); beeper(BEEPER_BLACKBOX_ERASE); } - break; + break; case BLACKBOX_STATE_ERASED: if (!IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE)) { blackboxSetState(BLACKBOX_STATE_STOPPED); @@ -1663,13 +1663,13 @@ void blackboxUpdate(timeUs_t currentTimeUs) } #endif } else { // Only log in test mode if there is room! - if(blackboxConfig()->on_motor_test) { + if (blackboxConfig()->on_motor_test) { // Handle Motor Test Mode - if(inMotorTestMode()) { - if(blackboxState==BLACKBOX_STATE_STOPPED) + if (inMotorTestMode()) { + if (blackboxState==BLACKBOX_STATE_STOPPED) startInTestMode(); } else { - if(blackboxState!=BLACKBOX_STATE_STOPPED) + if (blackboxState!=BLACKBOX_STATE_STOPPED) stopInTestMode(); } } diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c index 8e86e962e..d74f243a2 100644 --- a/src/main/blackbox/blackbox_io.c +++ b/src/main/blackbox/blackbox_io.c @@ -221,7 +221,7 @@ bool blackboxDeviceOpen(void) */ - switch(baudRateIndex) { + switch (baudRateIndex) { case BAUD_1000000: case BAUD_1500000: case BAUD_2000000: diff --git a/src/main/cms/cms.c b/src/main/cms/cms.c index 6df56ffef..bd6039eb3 100644 --- a/src/main/cms/cms.c +++ b/src/main/cms/cms.c @@ -606,7 +606,7 @@ static void cmsTraverseGlobalExit(const CMS_Menu *pMenu) } long cmsMenuExit(displayPort_t *pDisplay, const void *ptr) -{ +{ int exitType = (int)ptr; switch (exitType) { case CMS_EXIT_SAVE: diff --git a/src/main/common/filter.c b/src/main/common/filter.c index b070586fe..8732c7ebc 100644 --- a/src/main/common/filter.c +++ b/src/main/common/filter.c @@ -154,11 +154,11 @@ float biquadFilterApplyDF1(biquadFilter_t *filter, float input) { /* compute result */ const float result = filter->b0 * input + filter->b1 * filter->x1 + filter->b2 * filter->x2 - filter->a1 * filter->y1 - filter->a2 * filter->y2; - + /* shift x1 to x2, input to x1 */ filter->x2 = filter->x1; filter->x1 = input; - + /* shift y1 to y2, result to y1 */ filter->y2 = filter->y1; filter->y1 = result; diff --git a/src/main/config/config_streamer.c b/src/main/config/config_streamer.c index b9d34aa94..14c800d90 100644 --- a/src/main/config/config_streamer.c +++ b/src/main/config/config_streamer.c @@ -235,7 +235,7 @@ static int write_word(config_streamer_t *c, uint32_t value) EraseInitStruct.Sector = getFLASHSectorForEEPROM(); uint32_t SECTORError; const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError); - if (status != HAL_OK){ + if (status != HAL_OK) { return -1; } } diff --git a/src/main/config/parameter_group.h b/src/main/config/parameter_group.h index 4890a95f1..16ab6c52f 100644 --- a/src/main/config/parameter_group.h +++ b/src/main/config/parameter_group.h @@ -87,7 +87,7 @@ extern const uint8_t __pg_resetdata_end[]; do { \ extern const pgRegistry_t _name ##_Registry; \ pgReset(&_name ## _Registry); \ - } while(0) \ + } while (0) \ /**/ // Declare system config diff --git a/src/main/drivers/accgyro/accgyro_mma845x.c b/src/main/drivers/accgyro/accgyro_mma845x.c index 9cf7ec6ec..fd6e9decc 100644 --- a/src/main/drivers/accgyro/accgyro_mma845x.c +++ b/src/main/drivers/accgyro/accgyro_mma845x.c @@ -85,7 +85,7 @@ static inline void mma8451ConfigureInterrupt(void) #ifdef MMA8451_INT_PIN IOInit(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), OWNER_MPU_EXTI, 0); // TODO - maybe pullup / pulldown ? - IOConfigGPIO(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), IOCFG_IN_FLOATING); + IOConfigGPIO(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), IOCFG_IN_FLOATING); #endif i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH) diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.c b/src/main/drivers/accgyro/accgyro_spi_bmi160.c index 31edef7c3..f9ad9aa3c 100644 --- a/src/main/drivers/accgyro/accgyro_spi_bmi160.c +++ b/src/main/drivers/accgyro/accgyro_spi_bmi160.c @@ -110,7 +110,7 @@ bool bmi160Detect(const busDevice_t *bus) delay(10); // Give SPI some time to start up /* Check the chip ID */ - if (spiReadRegister(bus, BMI160_REG_CHIPID) != 0xd1){ + if (spiReadRegister(bus, BMI160_REG_CHIPID) != 0xd1) { return false; } @@ -130,7 +130,7 @@ static void BMI160_Init(const busDevice_t *bus) } /* Configure the BMI160 Sensor */ - if (BMI160_Config(bus) != 0){ + if (BMI160_Config(bus) != 0) { return; } @@ -152,12 +152,12 @@ static int32_t BMI160_Config(const busDevice_t *bus) { // Set normal power mode for gyro and accelerometer - if (BMI160_WriteReg(bus, BMI160_REG_CMD, BMI160_PMU_CMD_PMU_GYR_NORMAL) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_CMD, BMI160_PMU_CMD_PMU_GYR_NORMAL) != 0) { return -1; } delay(100); // can take up to 80ms - if (BMI160_WriteReg(bus, BMI160_REG_CMD, BMI160_PMU_CMD_PMU_ACC_NORMAL) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_CMD, BMI160_PMU_CMD_PMU_ACC_NORMAL) != 0) { return -2; } delay(5); // can take up to 3.8ms @@ -170,47 +170,47 @@ static int32_t BMI160_Config(const busDevice_t *bus) // Set odr and ranges // Set acc_us = 0 acc_bwp = 0b010 so only the first filter stage is used - if (BMI160_WriteReg(bus, BMI160_REG_ACC_CONF, 0x20 | BMI160_ODR_800_Hz) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_ACC_CONF, 0x20 | BMI160_ODR_800_Hz) != 0) { return -3; } delay(1); // Set gyr_bwp = 0b010 so only the first filter stage is used - if (BMI160_WriteReg(bus, BMI160_REG_GYR_CONF, 0x20 | BMI160_ODR_3200_Hz) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_GYR_CONF, 0x20 | BMI160_ODR_3200_Hz) != 0) { return -4; } delay(1); - if (BMI160_WriteReg(bus, BMI160_REG_ACC_RANGE, BMI160_RANGE_8G) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_ACC_RANGE, BMI160_RANGE_8G) != 0) { return -5; } delay(1); - if (BMI160_WriteReg(bus, BMI160_REG_GYR_RANGE, BMI160_RANGE_2000DPS) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_GYR_RANGE, BMI160_RANGE_2000DPS) != 0) { return -6; } delay(1); // Enable offset compensation uint8_t val = spiReadRegister(bus, BMI160_REG_OFFSET_0); - if (BMI160_WriteReg(bus, BMI160_REG_OFFSET_0, val | 0xC0) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_OFFSET_0, val | 0xC0) != 0) { return -7; } // Enable data ready interrupt - if (BMI160_WriteReg(bus, BMI160_REG_INT_EN1, BMI160_INT_EN1_DRDY) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_INT_EN1, BMI160_INT_EN1_DRDY) != 0) { return -8; } delay(1); // Enable INT1 pin - if (BMI160_WriteReg(bus, BMI160_REG_INT_OUT_CTRL, BMI160_INT_OUT_CTRL_INT1_CONFIG) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_INT_OUT_CTRL, BMI160_INT_OUT_CTRL_INT1_CONFIG) != 0) { return -9; } delay(1); // Map data ready interrupt to INT1 pin - if (BMI160_WriteReg(bus, BMI160_REG_INT_MAP1, BMI160_REG_INT_MAP1_INT1_DRDY) != 0){ + if (BMI160_WriteReg(bus, BMI160_REG_INT_MAP1, BMI160_REG_INT_MAP1_INT1_DRDY) != 0) { return -10; } delay(1); diff --git a/src/main/drivers/adc_stm32f7xx.c b/src/main/drivers/adc_stm32f7xx.c index 316ea4ab9..6c2d339a4 100644 --- a/src/main/drivers/adc_stm32f7xx.c +++ b/src/main/drivers/adc_stm32f7xx.c @@ -200,7 +200,7 @@ void adcInit(const adcConfig_t *config) //HAL_CLEANINVALIDATECACHE((uint32_t*)&adcValues, configuredAdcChannels); /*##-4- Start the conversion process #######################################*/ - if(HAL_ADC_Start_DMA(&adc.ADCHandle, (uint32_t*)&adcValues, configuredAdcChannels) != HAL_OK) + if (HAL_ADC_Start_DMA(&adc.ADCHandle, (uint32_t*)&adcValues, configuredAdcChannels) != HAL_OK) { /* Start Conversation Error */ } diff --git a/src/main/drivers/bus_i2c_hal.c b/src/main/drivers/bus_i2c_hal.c index ac8508447..ffa0dfec4 100644 --- a/src/main/drivers/bus_i2c_hal.c +++ b/src/main/drivers/bus_i2c_hal.c @@ -65,7 +65,7 @@ const i2cHardware_t i2cHardware[I2CDEV_COUNT] = { }, #endif #ifdef USE_I2C_DEVICE_3 - { + { .device = I2CDEV_3, .reg = I2C3, .sclPins = { DEFIO_TAG_E(PA8) }, @@ -163,12 +163,12 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, HAL_StatusTypeDef status; - if(reg_ == 0xFF) + if (reg_ == 0xFF) status = HAL_I2C_Master_Transmit(pHandle ,addr_ << 1, data, len_, I2C_DEFAULT_TIMEOUT); else status = HAL_I2C_Mem_Write(pHandle ,addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT,data, len_, I2C_DEFAULT_TIMEOUT); - if(status != HAL_OK) + if (status != HAL_OK) return i2cHandleHardwareFailure(device); return true; @@ -193,12 +193,12 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t HAL_StatusTypeDef status; - if(reg_ == 0xFF) + if (reg_ == 0xFF) status = HAL_I2C_Master_Receive(pHandle ,addr_ << 1, buf, len, I2C_DEFAULT_TIMEOUT); else status = HAL_I2C_Mem_Read(pHandle, addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT,buf, len, I2C_DEFAULT_TIMEOUT); - if(status != HAL_OK) + if (status != HAL_OK) return i2cHandleHardwareFailure(device); return true; diff --git a/src/main/drivers/bus_spi_hal.c b/src/main/drivers/bus_spi_hal.c index ae25ccdfa..e970f3cb4 100644 --- a/src/main/drivers/bus_spi_hal.c +++ b/src/main/drivers/bus_spi_hal.c @@ -144,7 +144,7 @@ void spiInitDevice(SPIDevice device) spi->leadingEdge = true; } #endif - + // Enable SPI clock RCC_ClockCmd(spi->rcc, ENABLE); RCC_ResetCmd(spi->rcc, ENABLE); @@ -154,7 +154,7 @@ void spiInitDevice(SPIDevice device) IOInit(IOGetByTag(spi->mosi), OWNER_SPI_MOSI, RESOURCE_INDEX(device)); #if defined(STM32F7) - if(spi->leadingEdge == true) + if (spi->leadingEdge == true) IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->sckAF); else IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->sckAF); @@ -162,7 +162,7 @@ void spiInitDevice(SPIDevice device) IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->mosiAF); #endif #if defined(STM32F3) || defined(STM32F4) - if(spi->leadingEdge == true) + if (spi->leadingEdge == true) IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->af); else IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->af); @@ -255,7 +255,7 @@ uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance) bool spiIsBusBusy(SPI_TypeDef *instance) { SPIDevice device = spiDeviceByInstance(instance); - if(spiDevice[device].hspi.State == HAL_SPI_STATE_BUSY) + if (spiDevice[device].hspi.State == HAL_SPI_STATE_BUSY) return true; else return false; @@ -266,11 +266,11 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len SPIDevice device = spiDeviceByInstance(instance); HAL_StatusTypeDef status; - if(!out) // Tx only + if (!out) // Tx only { status = HAL_SPI_Transmit(&spiDevice[device].hspi, (uint8_t *)in, len, SPI_DEFAULT_TIMEOUT); } - else if(!in) // Rx only + else if (!in) // Rx only { status = HAL_SPI_Receive(&spiDevice[device].hspi, out, len, SPI_DEFAULT_TIMEOUT); } @@ -279,7 +279,7 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len status = HAL_SPI_TransmitReceive(&spiDevice[device].hspi, in, out, len, SPI_DEFAULT_TIMEOUT); } - if( status != HAL_OK) + if ( status != HAL_OK) spiTimeoutUserCallback(instance); return true; diff --git a/src/main/drivers/bus_spi_soft.c b/src/main/drivers/bus_spi_soft.c index 2400124dc..9dfdfe160 100644 --- a/src/main/drivers/bus_spi_soft.c +++ b/src/main/drivers/bus_spi_soft.c @@ -70,7 +70,7 @@ void softSpiInit(const softSPIDevice_t *dev) uint8_t softSpiTransferByte(const softSPIDevice_t *dev, uint8_t byte) { - for(int ii = 0; ii < 8; ++ii) { + for (int ii = 0; ii < 8; ++ii) { if (byte & 0x80) { IOHi(IOGetByTag(dev->mosiTag)); } else { diff --git a/src/main/drivers/display_ug2864hsweg01.c b/src/main/drivers/display_ug2864hsweg01.c index abcc402cf..527a81aa5 100644 --- a/src/main/drivers/display_ug2864hsweg01.c +++ b/src/main/drivers/display_ug2864hsweg01.c @@ -196,7 +196,7 @@ void i2c_OLED_clear_display(busDevice_t *bus) i2c_OLED_send_cmd(bus, 0x40); // Display start line register to 0 i2c_OLED_send_cmd(bus, 0); // Set low col address to 0 i2c_OLED_send_cmd(bus, 0x10); // Set high col address to 0 - for(uint16_t i = 0; i < 1024; i++) { // fill the display's RAM with graphic... 128*64 pixel picture + for (uint16_t i = 0; i < 1024; i++) { // fill the display's RAM with graphic... 128*64 pixel picture i2c_OLED_send_byte(bus, 0x00); // clear } i2c_OLED_send_cmd(bus, 0x81); // Setup CONTRAST CONTROL, following byte is the contrast Value... always a 2 byte instruction @@ -210,7 +210,7 @@ void i2c_OLED_clear_display_quick(busDevice_t *bus) i2c_OLED_send_cmd(bus, 0x40); // Display start line register to 0 i2c_OLED_send_cmd(bus, 0); // Set low col address to 0 i2c_OLED_send_cmd(bus, 0x10); // Set high col address to 0 - for(uint16_t i = 0; i < 1024; i++) { // fill the display's RAM with graphic... 128*64 pixel picture + for (uint16_t i = 0; i < 1024; i++) { // fill the display's RAM with graphic... 128*64 pixel picture i2c_OLED_send_byte(bus, 0x00); // clear } } diff --git a/src/main/drivers/dma.h b/src/main/drivers/dma.h index c5831c95e..beb8bc2f5 100644 --- a/src/main/drivers/dma.h +++ b/src/main/drivers/dma.h @@ -77,7 +77,7 @@ typedef enum { dmaDescriptors[i].irqHandlerCallback(&dmaDescriptors[i]);\ } -#define DMA_CLEAR_FLAG(d, flag) if(d->flagsShift > 31) d->dma->HIFCR = (flag << (d->flagsShift - 32)); else d->dma->LIFCR = (flag << d->flagsShift) +#define DMA_CLEAR_FLAG(d, flag) if (d->flagsShift > 31) d->dma->HIFCR = (flag << (d->flagsShift - 32)); else d->dma->LIFCR = (flag << d->flagsShift) #define DMA_GET_FLAG_STATUS(d, flag) (d->flagsShift > 31 ? d->dma->HISR & (flag << (d->flagsShift - 32)): d->dma->LISR & (flag << d->flagsShift)) diff --git a/src/main/drivers/dma_stm32f7xx.c b/src/main/drivers/dma_stm32f7xx.c index 0cc4b8b41..d1da2519e 100644 --- a/src/main/drivers/dma_stm32f7xx.c +++ b/src/main/drivers/dma_stm32f7xx.c @@ -77,7 +77,7 @@ static void enableDmaClock(uint32_t rcc) /* Delay after an RCC peripheral clock enabling */ tmpreg = READ_BIT(RCC->AHB1ENR, rcc); UNUSED(tmpreg); - } while(0); + } while (0); } void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex) diff --git a/src/main/drivers/exti.c b/src/main/drivers/exti.c index d01db12c3..f76f25d99 100644 --- a/src/main/drivers/exti.c +++ b/src/main/drivers/exti.c @@ -78,7 +78,7 @@ void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t conf (void)config; int chIdx; chIdx = IO_GPIOPinIdx(io); - if(chIdx < 0) + if (chIdx < 0) return; extiChannelRec_t *rec = &extiChannelRecs[chIdx]; int group = extiGroups[chIdx]; @@ -96,7 +96,7 @@ void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t conf //EXTI_ClearITPendingBit(extiLine); - if(extiGroupPriority[group] > irqPriority) { + if (extiGroupPriority[group] > irqPriority) { extiGroupPriority[group] = irqPriority; HAL_NVIC_SetPriority(extiGroupIRQn[group], NVIC_PRIORITY_BASE(irqPriority), NVIC_PRIORITY_SUB(irqPriority)); HAL_NVIC_EnableIRQ(extiGroupIRQn[group]); @@ -108,7 +108,7 @@ void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_Typ { int chIdx; chIdx = IO_GPIOPinIdx(io); - if(chIdx < 0) + if (chIdx < 0) return; extiChannelRec_t *rec = &extiChannelRecs[chIdx]; int group = extiGroups[chIdx]; @@ -134,7 +134,7 @@ void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_Typ EXTIInit.EXTI_LineCmd = ENABLE; EXTI_Init(&EXTIInit); - if(extiGroupPriority[group] > irqPriority) { + if (extiGroupPriority[group] > irqPriority) { extiGroupPriority[group] = irqPriority; NVIC_InitTypeDef NVIC_InitStructure; @@ -154,7 +154,7 @@ void EXTIRelease(IO_t io) int chIdx; chIdx = IO_GPIOPinIdx(io); - if(chIdx < 0) + if (chIdx < 0) return; extiChannelRec_t *rec = &extiChannelRecs[chIdx]; rec->handler = NULL; @@ -164,18 +164,18 @@ void EXTIEnable(IO_t io, bool enable) { #if defined(STM32F1) || defined(STM32F4) || defined(STM32F7) uint32_t extiLine = IO_EXTI_Line(io); - if(!extiLine) + if (!extiLine) return; - if(enable) + if (enable) EXTI->IMR |= extiLine; else EXTI->IMR &= ~extiLine; #elif defined(STM32F303xC) int extiLine = IO_EXTI_Line(io); - if(extiLine < 0) + if (extiLine < 0) return; // assume extiLine < 32 (valid for all EXTI pins) - if(enable) + if (enable) EXTI->IMR |= 1 << extiLine; else EXTI->IMR &= ~(1 << extiLine); @@ -188,7 +188,7 @@ void EXTI_IRQHandler(void) { uint32_t exti_active = EXTI->IMR & EXTI->PR; - while(exti_active) { + while (exti_active) { unsigned idx = 31 - __builtin_clz(exti_active); uint32_t mask = 1 << idx; extiChannelRecs[idx].handler->fn(extiChannelRecs[idx].handler); diff --git a/src/main/drivers/light_ws2811strip_hal.c b/src/main/drivers/light_ws2811strip_hal.c index 2fb155fbd..4ae9ac2b9 100644 --- a/src/main/drivers/light_ws2811strip_hal.c +++ b/src/main/drivers/light_ws2811strip_hal.c @@ -40,7 +40,7 @@ static bool timerNChannel = false; void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) { - if(htim->Instance == TimHandle.Instance) { + if (htim->Instance == TimHandle.Instance) { //HAL_TIM_PWM_Stop_DMA(&TimHandle,WS2811_TIMER_CHANNEL); ws2811LedDataTransferInProgress = 0; } @@ -77,7 +77,7 @@ void ws2811LedStripHardwareInit(ioTag_t ioTag) TimHandle.Init.Period = period; // 800kHz TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; - if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) { + if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) { /* Initialization Error */ return; } @@ -116,7 +116,7 @@ void ws2811LedStripHardwareInit(ioTag_t ioTag) dmaSetHandler(timerHardware->dmaIrqHandler, WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, dmaSource); /* Initialize TIMx DMA handle */ - if(HAL_DMA_Init(TimHandle.hdma[dmaSource]) != HAL_OK) { + if (HAL_DMA_Init(TimHandle.hdma[dmaSource]) != HAL_OK) { /* Initialization Error */ return; } @@ -139,7 +139,7 @@ void ws2811LedStripHardwareInit(ioTag_t ioTag) } TIM_OCInitStructure.Pulse = 0; TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE; - if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &TIM_OCInitStructure, timerChannel) != HAL_OK) { + if (HAL_TIM_PWM_ConfigChannel(&TimHandle, &TIM_OCInitStructure, timerChannel) != HAL_OK) { /* Configuration Error */ return; } @@ -154,8 +154,8 @@ void ws2811LedStripDMAEnable(void) return; } - if(timerNChannel) { - if(HAL_TIMEx_PWMN_Start_DMA(&TimHandle, timerChannel, ledStripDMABuffer, WS2811_DMA_BUFFER_SIZE) != HAL_OK) { + if (timerNChannel) { + if (HAL_TIMEx_PWMN_Start_DMA(&TimHandle, timerChannel, ledStripDMABuffer, WS2811_DMA_BUFFER_SIZE) != HAL_OK) { /* Starting PWM generation Error */ ws2811LedDataTransferInProgress = 0; return; diff --git a/src/main/drivers/light_ws2811strip_stdperiph.c b/src/main/drivers/light_ws2811strip_stdperiph.c index 50f3b019e..342b3a3f4 100644 --- a/src/main/drivers/light_ws2811strip_stdperiph.c +++ b/src/main/drivers/light_ws2811strip_stdperiph.c @@ -120,7 +120,7 @@ void ws2811LedStripHardwareInit(ioTag_t ioTag) dmaInit(timerHardware->dmaIrqHandler, OWNER_LED_STRIP, 0); dmaSetHandler(timerHardware->dmaIrqHandler, WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, 0); - + dmaRef = timerHardware->dmaRef; DMA_DeInit(dmaRef); diff --git a/src/main/drivers/max7456.c b/src/main/drivers/max7456.c index 3ba0c6098..f2abc383f 100644 --- a/src/main/drivers/max7456.c +++ b/src/main/drivers/max7456.c @@ -330,7 +330,7 @@ void max7456ReInit(void) ENABLE_MAX7456; - switch(videoSignalCfg) { + switch (videoSignalCfg) { case VIDEO_SYSTEM_PAL: videoSignalReg = VIDEO_MODE_PAL | OSD_ENABLE; break; @@ -363,7 +363,7 @@ void max7456ReInit(void) // Set all rows to same charactor black/white level. - for(x = 0; x < maxScreenRows; x++) { + for (x = 0; x < maxScreenRows; x++) { max7456Send(MAX7456ADD_RB0 + x, BWBRIGHTNESS); } @@ -627,7 +627,7 @@ void max7456WriteNvm(uint8_t char_address, const uint8_t *font_data) max7456Send(MAX7456ADD_CMAH, char_address); // set start address high - for(x = 0; x < 54; x++) { + for (x = 0; x < 54; x++) { max7456Send(MAX7456ADD_CMAL, x); //set start address low max7456Send(MAX7456ADD_CMDI, font_data[x]); #ifdef LED0_TOGGLE diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index d065eefce..7d0e495b4 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -52,7 +52,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8 { #if defined(USE_HAL_DRIVER) TIM_HandleTypeDef* Handle = timerFindTimerHandle(tim); - if(Handle == NULL) return; + if (Handle == NULL) return; TIM_OC_InitTypeDef TIM_OCInitStructure; @@ -100,7 +100,7 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard { #if defined(USE_HAL_DRIVER) TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim); - if(Handle == NULL) return; + if (Handle == NULL) return; #endif configTimeBase(timerHardware->tim, period, hz); @@ -111,7 +111,7 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard ); #if defined(USE_HAL_DRIVER) - if(timerHardware->output & TIMER_OUTPUT_N_CHANNEL) + if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) HAL_TIMEx_PWMN_Start(Handle, timerHardware->channel); else HAL_TIM_PWM_Start(Handle, timerHardware->channel); @@ -171,7 +171,7 @@ void pwmWriteMotor(uint8_t index, float value) { if (pwmMotorsEnabled) { pwmWrite(index, value); - } + } } void pwmShutdownPulsesForAllMotors(uint8_t motorCount) @@ -203,7 +203,7 @@ bool pwmAreMotorsEnabled(void) static void pwmCompleteWriteUnused(uint8_t motorCount) { - UNUSED(motorCount); + UNUSED(motorCount); } static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount) @@ -226,7 +226,7 @@ void pwmCompleteMotorUpdate(uint8_t motorCount) void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount) { memset(motors, 0, sizeof(motors)); - + bool useUnsyncedPwm = motorConfig->useUnsyncedPwm; float sMin = 0; @@ -328,7 +328,7 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8 */ motors[motorIndex].pulseScale = ((motorConfig->motorPwmProtocol == PWM_TYPE_BRUSHED) ? period : (sLen * hz)) / 1000.0f; motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000); - + pwmOutConfig(&motors[motorIndex], timerHardware, hz, period, idlePulse, motorConfig->motorPwmInversion); bool timerAlreadyUsed = false; @@ -466,9 +466,9 @@ void servoDevInit(const servoDevConfig_t *servoConfig) #ifdef BEEPER void pwmWriteBeeper(bool onoffBeep) { - if(!beeperPwm.io) + if (!beeperPwm.io) return; - if(onoffBeep == true) { + if (onoffBeep == true) { *beeperPwm.ccr = (PWM_TIMER_1MHZ / freqBeep) / 2; beeperPwm.enabled = true; } else { diff --git a/src/main/drivers/pwm_output_dshot.c b/src/main/drivers/pwm_output_dshot.c index 305876102..3236c9cfd 100644 --- a/src/main/drivers/pwm_output_dshot.c +++ b/src/main/drivers/pwm_output_dshot.c @@ -169,7 +169,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m DMA_Cmd(dmaRef, DISABLE); DMA_DeInit(dmaRef); - + DMA_StructInit(&DMA_InitStructure); #if defined(STM32F3) DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)motor->dmaBuffer; diff --git a/src/main/drivers/rx_pwm.c b/src/main/drivers/rx_pwm.c index f922c8350..bdd17a094 100644 --- a/src/main/drivers/rx_pwm.c +++ b/src/main/drivers/rx_pwm.c @@ -322,7 +322,7 @@ static void pwmEdgeCallback(timerCCHandlerRec_t *cbRec, captureCompare_t capture void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity) { TIM_HandleTypeDef* Handle = timerFindTimerHandle(tim); - if(Handle == NULL) return; + if (Handle == NULL) return; TIM_IC_InitTypeDef TIM_ICInitStructure; diff --git a/src/main/drivers/serial_escserial.c b/src/main/drivers/serial_escserial.c index cb0279620..070d05faf 100644 --- a/src/main/drivers/serial_escserial.c +++ b/src/main/drivers/serial_escserial.c @@ -126,11 +126,11 @@ static void TIM_DeInit(TIM_TypeDef *tim) void setTxSignalEsc(escSerial_t *escSerial, uint8_t state) { - if(escSerial->mode == PROTOCOL_KISSALL) + if (escSerial->mode == PROTOCOL_KISSALL) { for (volatile uint8_t i = 0; i < escSerial->outputCount; i++) { uint8_t state_temp = state; - if(escOutputs[i].inverted) { + if (escOutputs[i].inverted) { state_temp ^= ENABLE; } @@ -143,7 +143,7 @@ void setTxSignalEsc(escSerial_t *escSerial, uint8_t state) } else { - if(escSerial->rxTimerHardware->output & TIMER_OUTPUT_INVERTED) { + if (escSerial->rxTimerHardware->output & TIMER_OUTPUT_INVERTED) { state ^= ENABLE; } @@ -262,7 +262,7 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac { escSerial_t *escSerial = &(escSerialPorts[portIndex]); - if(mode != PROTOCOL_KISSALL){ + if (mode != PROTOCOL_KISSALL) { escSerial->rxTimerHardware = &(timerHardware[output]); #ifdef USE_HAL_DRIVER escSerial->rxTimerHandle = timerFindTimerHandle(escSerial->rxTimerHardware->tim); @@ -295,7 +295,7 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac escSerial->escSerialPortIndex = portIndex; - if(mode != PROTOCOL_KISSALL) + if (mode != PROTOCOL_KISSALL) { escSerial->txIO = IOGetByTag(escSerial->rxTimerHardware->tag); escSerialInputPortConfig(escSerial->rxTimerHardware); @@ -303,19 +303,19 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac } delay(50); - if(mode==PROTOCOL_SIMONK){ + if (mode==PROTOCOL_SIMONK) { escSerialTimerTxConfig(escSerial->txTimerHardware, portIndex); escSerialTimerRxConfig(escSerial->rxTimerHardware, portIndex); } - else if(mode==PROTOCOL_BLHELI){ + else if (mode==PROTOCOL_BLHELI) { serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud); serialTimerRxConfigBL(escSerial->rxTimerHardware, portIndex, options); } - else if(mode==PROTOCOL_KISS) { + else if (mode==PROTOCOL_KISS) { escSerialOutputPortConfig(escSerial->rxTimerHardware); // rx is the pin used serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud); } - else if(mode==PROTOCOL_KISSALL) { + else if (mode==PROTOCOL_KISSALL) { escSerial->outputCount = 0; memset(&escOutputs, 0, sizeof(escOutputs)); pwmOutputPort_t *pwmMotors = pwmGetMotors(); @@ -323,10 +323,10 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac if (pwmMotors[i].enabled) { if (pwmMotors[i].io != IO_NONE) { for (volatile uint8_t j = 0; j < USABLE_TIMER_CHANNEL_COUNT; j++) { - if(pwmMotors[i].io == IOGetByTag(timerHardware[j].tag)) + if (pwmMotors[i].io == IOGetByTag(timerHardware[j].tag)) { escSerialOutputPortConfig(&timerHardware[j]); - if(timerHardware[j].output & TIMER_OUTPUT_INVERTED) { + if (timerHardware[j].output & TIMER_OUTPUT_INVERTED) { escOutputs[escSerial->outputCount].inverted = 1; } break; @@ -340,7 +340,7 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac setTxSignalEsc(escSerial, ENABLE); serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud); } - else if(mode == PROTOCOL_CASTLE){ + else if (mode == PROTOCOL_CASTLE){ escSerialOutputPortConfig(escSerial->rxTimerHardware); serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud); serialTimerRxConfigBL(escSerial->rxTimerHardware, portIndex, options); @@ -361,7 +361,7 @@ void closeEscSerial(escSerialPortIndex_e portIndex, uint8_t mode) { escSerial_t *escSerial = &(escSerialPorts[portIndex]); - if(mode != PROTOCOL_KISSALL){ + if (mode != PROTOCOL_KISSALL) { escSerialInputPortDeConfig(escSerial->rxTimerHardware); timerChConfigCallbacks(escSerial->rxTimerHardware,NULL,NULL); TIM_DeInit(escSerial->rxTimerHardware->tim); @@ -381,7 +381,7 @@ void processTxStateEsc(escSerial_t *escSerial) return; } - if(transmitStart==0) + if (transmitStart==0) { setTxSignalEsc(escSerial, 1); } @@ -394,13 +394,13 @@ reload: return; } - if(transmitStart<3) + if (transmitStart<3) { - if(transmitStart==0) + if (transmitStart==0) byteToSend = 0xff; - if(transmitStart==1) + if (transmitStart==1) byteToSend = 0xff; - if(transmitStart==2) + if (transmitStart==2) byteToSend = 0x7f; transmitStart++; } @@ -425,35 +425,35 @@ reload: if (escSerial->bitsLeftToTransmit) { mask = escSerial->internalTxBuffer & 1; - if(mask) + if (mask) { - if(bitq==0 || bitq==1) + if (bitq==0 || bitq==1) { setTxSignalEsc(escSerial, 1); } - if(bitq==2 || bitq==3) + if (bitq==2 || bitq==3) { setTxSignalEsc(escSerial, 0); } } else { - if(bitq==0 || bitq==2) + if (bitq==0 || bitq==2) { setTxSignalEsc(escSerial, 1); } - if(bitq==1 ||bitq==3) + if (bitq==1 ||bitq==3) { setTxSignalEsc(escSerial, 0); } } bitq++; - if(bitq>3) + if (bitq>3) { escSerial->internalTxBuffer >>= 1; escSerial->bitsLeftToTransmit--; bitq=0; - if(escSerial->bitsLeftToTransmit==0) + if (escSerial->bitsLeftToTransmit==0) { goto reload; } @@ -497,7 +497,7 @@ void processTxStateBL(escSerial_t *escSerial) //set output - if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE) { + if (escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE) { escSerialOutputPortConfig(escSerial->rxTimerHardware); } return; @@ -514,7 +514,7 @@ void processTxStateBL(escSerial_t *escSerial) escSerial->isTransmittingData = false; if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) { - if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE) + if (escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE) { escSerialInputPortConfig(escSerial->rxTimerHardware); } @@ -683,10 +683,10 @@ void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture) UNUSED(capture); escSerial_t *escSerial = container_of(cbRec, escSerial_t, timerCb); - if(escSerial->isReceivingData) + if (escSerial->isReceivingData) { escSerial->receiveTimeout++; - if(escSerial->receiveTimeout>8) + if (escSerial->receiveTimeout>8) { escSerial->isReceivingData=0; escSerial->receiveTimeout=0; @@ -714,17 +714,17 @@ void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture TIM_SetCounter(escSerial->rxTimerHardware->tim,0); #endif - if(capture > 40 && capture < 90) + if (capture > 40 && capture < 90) { zerofirst++; - if(zerofirst>1) + if (zerofirst>1) { zerofirst=0; escSerial->internalRxBuffer = escSerial->internalRxBuffer>>1; bits++; } } - else if(capture>90 && capture < 200) + else if (capture>90 && capture < 200) { zerofirst=0; escSerial->internalRxBuffer = escSerial->internalRxBuffer>>1; @@ -733,7 +733,7 @@ void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture } else { - if(!escSerial->isReceivingData) + if (!escSerial->isReceivingData) { //start //lets reset @@ -749,11 +749,11 @@ void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture } escSerial->receiveTimeout = 0; - if(bits==8) + if (bits==8) { bits=0; bytes++; - if(bytes>3) + if (bytes>3) { extractAndStoreRxByteEsc(escSerial); } @@ -852,7 +852,7 @@ void escSerialInitialize() for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { // set outputs to pullup - if(timerHardware[i].output & TIMER_OUTPUT_ENABLED) + if (timerHardware[i].output & TIMER_OUTPUT_ENABLED) { escSerialGPIOConfig(&timerHardware[i], IOCFG_IPU); //GPIO_Mode_IPU } @@ -916,7 +916,7 @@ static bool ProcessExitCommand(uint8_t c) if (currentPort.checksum == c) { currentPort.c_state = COMMAND_RECEIVED; - if((currentPort.cmdMSP == 0xF4) && (currentPort.dataSize==0)) + if ((currentPort.cmdMSP == 0xF4) && (currentPort.dataSize==0)) { currentPort.c_state = IDLE; return true; @@ -953,14 +953,14 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin break; } - if((mode == PROTOCOL_KISS) && (output == 255)){ + if ((mode == PROTOCOL_KISS) && (output == 255)) { motor_output = 255; mode = PROTOCOL_KISSALL; } else { uint8_t first_output = 0; for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { - if(timerHardware[i].output & TIMER_OUTPUT_ENABLED) + if (timerHardware[i].output & TIMER_OUTPUT_ENABLED) { first_output=i; break; @@ -969,18 +969,18 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin //doesn't work with messy timertable motor_output=first_output+output-1; - if(motor_output >=USABLE_TIMER_CHANNEL_COUNT) + if (motor_output >=USABLE_TIMER_CHANNEL_COUNT) return; } escPort = openEscSerial(ESCSERIAL1, NULL, motor_output, escBaudrate, 0, mode); uint8_t ch; - while(1) { - if(mode!=2) + while (1) { + if (mode!=2) { if (serialRxBytesWaiting(escPort)) { LED0_ON; - while(serialRxBytesWaiting(escPort)) + while (serialRxBytesWaiting(escPort)) { ch = serialRead(escPort); serialWrite(escPassthroughPort, ch); @@ -990,11 +990,11 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin } if (serialRxBytesWaiting(escPassthroughPort)) { LED1_ON; - while(serialRxBytesWaiting(escPassthroughPort)) + while (serialRxBytesWaiting(escPassthroughPort)) { ch = serialRead(escPassthroughPort); exitEsc = ProcessExitCommand(ch); - if(exitEsc) + if (exitEsc) { serialWrite(escPassthroughPort, 0x24); serialWrite(escPassthroughPort, 0x4D); @@ -1005,14 +1005,14 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin closeEscSerial(ESCSERIAL1, mode); return; } - if(mode==PROTOCOL_BLHELI){ + if (mode==PROTOCOL_BLHELI) { serialWrite(escPassthroughPort, ch); // blheli loopback } serialWrite(escPort, ch); } LED1_OFF; } - if(mode != PROTOCOL_CASTLE){ + if (mode != PROTOCOL_CASTLE) { delay(5); } } diff --git a/src/main/drivers/serial_tcp.c b/src/main/drivers/serial_tcp.c index a132549b3..ba31b7cdc 100644 --- a/src/main/drivers/serial_tcp.c +++ b/src/main/drivers/serial_tcp.c @@ -53,7 +53,7 @@ static void onClose(dyad_Event *e) { s->clientCount--; s->conn = NULL; fprintf(stderr, "[CLS]UART%u: %d,%d\n", s->id + 1, s->connected, s->clientCount); - if(s->clientCount == 0) { + if (s->clientCount == 0) { s->connected = false; } } @@ -62,7 +62,7 @@ static void onAccept(dyad_Event *e) { fprintf(stderr, "New connection on UART%u, %d\n", s->id + 1, s->clientCount); s->connected = true; - if(s->clientCount > 0) { + if (s->clientCount > 0) { dyad_close(e->remote); return; } @@ -76,7 +76,7 @@ static void onAccept(dyad_Event *e) { } static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id) { - if(tcpPortInitialized[id]) { + if (tcpPortInitialized[id]) { fprintf(stderr, "port is already initialized!\n"); return s; } @@ -103,7 +103,7 @@ static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id) dyad_setNoDelay(s->serv, 1); dyad_addListener(s->serv, DYAD_EVENT_ACCEPT, onAccept, s); - if(dyad_listenEx(s->serv, NULL, BASE_PORT + id + 1, 10) == 0) { + if (dyad_listenEx(s->serv, NULL, BASE_PORT + id + 1, 10) == 0) { fprintf(stderr, "bind port %u for UART%u\n", (unsigned)BASE_PORT + id + 1, (unsigned)id + 1); } else { fprintf(stderr, "bind port %u for UART%u failed!!\n", (unsigned)BASE_PORT + id + 1, (unsigned)id + 1); @@ -116,11 +116,11 @@ serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, uint32_t b tcpPort_t *s = NULL; #if defined(USE_UART1) || defined(USE_UART2) || defined(USE_UART3) || defined(USE_UART4) || defined(USE_UART5) || defined(USE_UART6) || defined(USE_UART7) || defined(USE_UART8) - if(id >= 0 && id < SERIAL_PORT_COUNT) { + if (id >= 0 && id < SERIAL_PORT_COUNT) { s = tcpReconfigure(&tcpSerialPorts[id], id); } #endif - if(!s) + if (!s) return NULL; s->port.vTable = &tcpVTable; @@ -219,7 +219,7 @@ void tcpWrite(serialPort_t *instance, uint8_t ch) void tcpDataOut(tcpPort_t *instance) { tcpPort_t *s = (tcpPort_t *)instance; - if(s->conn == NULL) return; + if (s->conn == NULL) return; pthread_mutex_lock(&s->txLock); if (s->port.txBufferHead < s->port.txBufferTail) { @@ -229,7 +229,7 @@ void tcpDataOut(tcpPort_t *instance) s->port.txBufferTail = 0; } int chunk = s->port.txBufferHead - s->port.txBufferTail; - if(chunk) + if (chunk) dyad_write(s->conn, (const void*)&s->port.txBuffer[s->port.txBufferTail], chunk); s->port.txBufferTail = s->port.txBufferHead; @@ -241,7 +241,7 @@ void tcpDataIn(tcpPort_t *instance, uint8_t* ch, int size) tcpPort_t *s = (tcpPort_t *)instance; pthread_mutex_lock(&s->rxLock); - while(size--) { + while (size--) { // printf("%c", *ch); s->port.rxBuffer[s->port.rxBufferHead] = *(ch++); if (s->port.rxBufferHead + 1 >= s->port.rxBufferSize) { diff --git a/src/main/drivers/serial_uart_hal.c b/src/main/drivers/serial_uart_hal.c index fa213eeab..a4a7056c5 100644 --- a/src/main/drivers/serial_uart_hal.c +++ b/src/main/drivers/serial_uart_hal.c @@ -43,7 +43,7 @@ static void usartConfigurePinInversion(uartPort_t *uartPort) { bool inverted = uartPort->port.options & SERIAL_INVERTED; - if(inverted) + if (inverted) { if (uartPort->port.mode & MODE_RX) { @@ -94,7 +94,7 @@ void uartReconfigure(uartPort_t *uartPort) usartConfigurePinInversion(uartPort); - if(uartPort->port.options & SERIAL_BIDIR) + if (uartPort->port.options & SERIAL_BIDIR) { HAL_HalfDuplex_Init(&uartPort->Handle); } @@ -167,9 +167,9 @@ void uartReconfigure(uartPort_t *uartPort) HAL_DMA_DeInit(&uartPort->txDMAHandle); HAL_StatusTypeDef status = HAL_DMA_Init(&uartPort->txDMAHandle); - if(status != HAL_OK) + if (status != HAL_OK) { - while(1); + while (1); } /* Associate the initialized DMA handle to the UART handle */ __HAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle); @@ -225,7 +225,7 @@ void uartStartTxDMA(uartPort_t *s) uint16_t size = 0; uint32_t fromwhere=0; HAL_UART_StateTypeDef state = HAL_UART_GetState(&s->Handle); - if((state & HAL_UART_STATE_BUSY_TX) == HAL_UART_STATE_BUSY_TX) + if ((state & HAL_UART_STATE_BUSY_TX) == HAL_UART_STATE_BUSY_TX) return; if (s->port.txBufferHead > s->port.txBufferTail) { diff --git a/src/main/drivers/serial_uart_init.c b/src/main/drivers/serial_uart_init.c index 8852e2472..780c822a6 100644 --- a/src/main/drivers/serial_uart_init.c +++ b/src/main/drivers/serial_uart_init.c @@ -104,7 +104,7 @@ void uartReconfigure(uartPort_t *uartPort) usartConfigurePinInversion(uartPort); - if(uartPort->port.options & SERIAL_BIDIR) + if (uartPort->port.options & SERIAL_BIDIR) USART_HalfDuplexCmd(uartPort->USARTx, ENABLE); else USART_HalfDuplexCmd(uartPort->USARTx, DISABLE); diff --git a/src/main/drivers/serial_uart_stm32f10x.c b/src/main/drivers/serial_uart_stm32f10x.c index f6ecd7e56..feb2ab2c0 100644 --- a/src/main/drivers/serial_uart_stm32f10x.c +++ b/src/main/drivers/serial_uart_stm32f10x.c @@ -74,7 +74,7 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = { }, #endif #ifdef USE_UART2 - { + { .device = UARTDEV_2, .reg = USART2, .rxDMAChannel = UART2_RX_DMA_CHANNEL, @@ -101,8 +101,8 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = { .irqn = USART3_IRQn, .txPriority = NVIC_PRIO_SERIALUART3, .rxPriority = NVIC_PRIO_SERIALUART3 - }, -#endif + }, +#endif }; void uart_tx_dma_IRQHandler(dmaChannelDescriptor_t* descriptor) diff --git a/src/main/drivers/serial_uart_stm32f7xx.c b/src/main/drivers/serial_uart_stm32f7xx.c index aeb6906a1..25252d133 100644 --- a/src/main/drivers/serial_uart_stm32f7xx.c +++ b/src/main/drivers/serial_uart_stm32f7xx.c @@ -228,7 +228,7 @@ void uartIrqHandler(uartPort_t *s) { UART_HandleTypeDef *huart = &s->Handle; /* UART in mode Receiver ---------------------------------------------------*/ - if((__HAL_UART_GET_IT(huart, UART_IT_RXNE) != RESET)) + if ((__HAL_UART_GET_IT(huart, UART_IT_RXNE) != RESET)) { uint8_t rbyte = (uint8_t)(huart->Instance->RDR & (uint8_t)0xff); @@ -247,37 +247,37 @@ void uartIrqHandler(uartPort_t *s) } /* UART parity error interrupt occurred -------------------------------------*/ - if((__HAL_UART_GET_IT(huart, UART_IT_PE) != RESET)) + if ((__HAL_UART_GET_IT(huart, UART_IT_PE) != RESET)) { __HAL_UART_CLEAR_IT(huart, UART_CLEAR_PEF); } /* UART frame error interrupt occurred --------------------------------------*/ - if((__HAL_UART_GET_IT(huart, UART_IT_FE) != RESET)) + if ((__HAL_UART_GET_IT(huart, UART_IT_FE) != RESET)) { __HAL_UART_CLEAR_IT(huart, UART_CLEAR_FEF); } /* UART noise error interrupt occurred --------------------------------------*/ - if((__HAL_UART_GET_IT(huart, UART_IT_NE) != RESET)) + if ((__HAL_UART_GET_IT(huart, UART_IT_NE) != RESET)) { __HAL_UART_CLEAR_IT(huart, UART_CLEAR_NEF); } /* UART Over-Run interrupt occurred -----------------------------------------*/ - if((__HAL_UART_GET_IT(huart, UART_IT_ORE) != RESET)) + if ((__HAL_UART_GET_IT(huart, UART_IT_ORE) != RESET)) { __HAL_UART_CLEAR_IT(huart, UART_CLEAR_OREF); } /* UART in mode Transmitter ------------------------------------------------*/ - if((__HAL_UART_GET_IT(huart, UART_IT_TXE) != RESET)) + if ((__HAL_UART_GET_IT(huart, UART_IT_TXE) != RESET)) { HAL_UART_IRQHandler(huart); } /* UART in mode Transmitter (transmission end) -----------------------------*/ - if((__HAL_UART_GET_IT(huart, UART_IT_TC) != RESET)) + if ((__HAL_UART_GET_IT(huart, UART_IT_TC) != RESET)) { HAL_UART_IRQHandler(huart); handleUsartTxDma(s); @@ -308,7 +308,7 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po uartDevice_t *uartdev = uartDevmap[device]; if (!uartdev) { return NULL; - } + } uartPort_t *s = &(uartdev->port); @@ -370,7 +370,7 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po //HAL_NVIC_SetPriority(hardware->txIrq, NVIC_PRIORITY_BASE(hardware->txPriority), NVIC_PRIORITY_SUB(hardware->txPriority)); //HAL_NVIC_EnableIRQ(hardware->txIrq); - if(!s->rxDMAChannel) + if (!s->rxDMAChannel) { HAL_NVIC_SetPriority(hardware->rxIrq, NVIC_PRIORITY_BASE(hardware->rxPriority), NVIC_PRIORITY_SUB(hardware->rxPriority)); HAL_NVIC_EnableIRQ(hardware->rxIrq); diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c index 04a67f41d..ebef30d1d 100644 --- a/src/main/drivers/sound_beeper.c +++ b/src/main/drivers/sound_beeper.c @@ -35,7 +35,7 @@ static uint16_t beeperFrequency = 0; void systemBeep(bool onoff) { #ifdef BEEPER - if(beeperFrequency == 0) { + if (beeperFrequency == 0) { IOWrite(beeperIO, beeperInverted ? onoff : !onoff); } else { pwmWriteBeeper(onoff); @@ -48,7 +48,7 @@ void systemBeep(bool onoff) void systemBeepToggle(void) { #ifdef BEEPER - if(beeperFrequency == 0) { + if (beeperFrequency == 0) { IOToggle(beeperIO); } else { pwmToggleBeeper(); @@ -60,7 +60,7 @@ void beeperInit(const beeperDevConfig_t *config) { #ifdef BEEPER beeperFrequency = config->frequency; - if(beeperFrequency == 0) { + if (beeperFrequency == 0) { beeperIO = IOGetByTag(config->ioTag); beeperInverted = config->isInverted; if (beeperIO) { diff --git a/src/main/drivers/sound_beeper.h b/src/main/drivers/sound_beeper.h index ef85ec173..e2b2a2478 100644 --- a/src/main/drivers/sound_beeper.h +++ b/src/main/drivers/sound_beeper.h @@ -24,9 +24,9 @@ #define BEEP_OFF systemBeep(false) #define BEEP_ON systemBeep(true) #else -#define BEEP_TOGGLE do {} while(0) -#define BEEP_OFF do {} while(0) -#define BEEP_ON do {} while(0) +#define BEEP_TOGGLE do {} while (0) +#define BEEP_OFF do {} while (0) +#define BEEP_ON do {} while (0) #endif typedef struct beeperDevConfig_s { diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c index 57a2b69f4..a53128bbd 100755 --- a/src/main/drivers/timer.c +++ b/src/main/drivers/timer.c @@ -78,7 +78,7 @@ static uint8_t lookupTimerIndex(const TIM_TypeDef *tim) #define _CASE(i) _CASE_(TIM##i##_BASE, TIMER_INDEX(i)) // let gcc do the work, switch should be quite optimized - switch((unsigned)tim >> _CASE_SHF) { + switch ((unsigned)tim >> _CASE_SHF) { #if USED_TIMERS & TIM_N(1) _CASE(1); #endif @@ -254,7 +254,7 @@ void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, ui uint8_t irq = timerInputIrq(timerHardwarePtr->tim); timerNVICConfigure(irq); // HACK - enable second IRQ on timers that need it - switch(irq) { + switch (irq) { #if defined(STM32F10X) case TIM1_CC_IRQn: timerNVICConfigure(TIM1_UP_IRQn); @@ -287,14 +287,14 @@ void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, ui void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriority, uint8_t irq) { unsigned channel = timHw - timerHardware; - if(channel >= USABLE_TIMER_CHANNEL_COUNT) + if (channel >= USABLE_TIMER_CHANNEL_COUNT) return; timerChannelInfo[channel].type = type; unsigned timer = lookupTimerIndex(timHw->tim); - if(timer >= USED_TIMER_COUNT) + if (timer >= USED_TIMER_COUNT) return; - if(irqPriority < timerInfo[timer].priority) { + if (irqPriority < timerInfo[timer].priority) { // it would be better to set priority in the end, but current startup sequence is not ready configTimeBase(usedTimers[timer], 0, 1); TIM_Cmd(usedTimers[timer], ENABLE); @@ -327,8 +327,8 @@ void timerChOvrHandlerInit(timerOvrHandlerRec_t *self, timerOvrHandlerCallback * static void timerChConfig_UpdateOverflow(timerConfig_t *cfg, TIM_TypeDef *tim) { timerOvrHandlerRec_t **chain = &cfg->overflowCallbackActive; ATOMIC_BLOCK(NVIC_PRIO_TIMER) { - for(int i = 0; i < CC_CHANNELS_PER_TIMER; i++) - if(cfg->overflowCallback[i]) { + for (int i = 0; i < CC_CHANNELS_PER_TIMER; i++) + if (cfg->overflowCallback[i]) { *chain = cfg->overflowCallback[i]; chain = &cfg->overflowCallback[i]->next; } @@ -346,13 +346,13 @@ void timerChConfigCallbacks(const timerHardware_t *timHw, timerCCHandlerRec_t *e return; } uint8_t channelIndex = lookupChannelIndex(timHw->channel); - if(edgeCallback == NULL) // disable irq before changing callback to NULL + if (edgeCallback == NULL) // disable irq before changing callback to NULL TIM_ITConfig(timHw->tim, TIM_IT_CCx(timHw->channel), DISABLE); // setup callback info timerConfig[timerIndex].edgeCallback[channelIndex] = edgeCallback; timerConfig[timerIndex].overflowCallback[channelIndex] = overflowCallback; // enable channel IRQ - if(edgeCallback) + if (edgeCallback) TIM_ITConfig(timHw->tim, TIM_IT_CCx(timHw->channel), ENABLE); timerChConfig_UpdateOverflow(&timerConfig[timerIndex], timHw->tim); @@ -371,9 +371,9 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_ uint16_t chHi = timHw->channel | TIM_Channel_2; // upper channel uint8_t channelIndex = lookupChannelIndex(chLo); // get index of lower channel - if(edgeCallbackLo == NULL) // disable irq before changing setting callback to NULL + if (edgeCallbackLo == NULL) // disable irq before changing setting callback to NULL TIM_ITConfig(timHw->tim, TIM_IT_CCx(chLo), DISABLE); - if(edgeCallbackHi == NULL) // disable irq before changing setting callback to NULL + if (edgeCallbackHi == NULL) // disable irq before changing setting callback to NULL TIM_ITConfig(timHw->tim, TIM_IT_CCx(chHi), DISABLE); // setup callback info @@ -383,11 +383,11 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_ timerConfig[timerIndex].overflowCallback[channelIndex + 1] = NULL; // enable channel IRQs - if(edgeCallbackLo) { + if (edgeCallbackLo) { TIM_ClearFlag(timHw->tim, TIM_IT_CCx(chLo)); TIM_ITConfig(timHw->tim, TIM_IT_CCx(chLo), ENABLE); } - if(edgeCallbackHi) { + if (edgeCallbackHi) { TIM_ClearFlag(timHw->tim, TIM_IT_CCx(chHi)); TIM_ITConfig(timHw->tim, TIM_IT_CCx(chHi), ENABLE); } @@ -433,8 +433,8 @@ static unsigned getFilter(unsigned ticks) 16*5, 16*6, 16*8, 32*5, 32*6, 32*8 }; - for(unsigned i = 1; i < ARRAYLEN(ftab); i++) - if(ftab[i] > ticks) + for (unsigned i = 1; i < ARRAYLEN(ftab); i++) + if (ftab[i] > ticks) return i - 1; return 0x0f; } @@ -504,7 +504,7 @@ void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHig TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCStructInit(&TIM_OCInitStructure); - if(outEnable) { + if (outEnable) { TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; if (timHw->output & TIMER_OUTPUT_INVERTED) { @@ -541,17 +541,17 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig) unsigned tim_status; tim_status = tim->SR & tim->DIER; #if 1 - while(tim_status) { + while (tim_status) { // flags will be cleared by reading CCR in dual capture, make sure we call handler correctly // currrent order is highest bit first. Code should not rely on specific order (it will introduce race conditions anyway) unsigned bit = __builtin_clz(tim_status); unsigned mask = ~(0x80000000 >> bit); tim->SR = mask; tim_status &= mask; - switch(bit) { + switch (bit) { case __builtin_clz(TIM_IT_Update): { - if(timerConfig->forcedOverflowTimerValue != 0){ + if (timerConfig->forcedOverflowTimerValue != 0) { capture = timerConfig->forcedOverflowTimerValue - 1; timerConfig->forcedOverflowTimerValue = 0; } else { @@ -559,7 +559,7 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig) } timerOvrHandlerRec_t *cb = timerConfig->overflowCallbackActive; - while(cb) { + while (cb) { cb->fn(cb, capture); cb = cb->next; } @@ -584,7 +584,7 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig) tim->SR = ~TIM_IT_Update; capture = tim->ARR; timerOvrHandlerRec_t *cb = timerConfig->overflowCallbackActive; - while(cb) { + while (cb) { cb->fn(cb, capture); cb = cb->next; } @@ -714,10 +714,10 @@ void timerInit(void) #endif // initialize timer channel structures - for(int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { + for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { timerChannelInfo[i].type = TYPE_FREE; } - for(int i = 0; i < USED_TIMER_COUNT; i++) { + for (int i = 0; i < USED_TIMER_COUNT; i++) { timerInfo[i].priority = ~0; } } @@ -728,18 +728,18 @@ void timerInit(void) void timerStart(void) { #if 0 - for(unsigned timer = 0; timer < USED_TIMER_COUNT; timer++) { + for (unsigned timer = 0; timer < USED_TIMER_COUNT; timer++) { int priority = -1; int irq = -1; - for(unsigned hwc = 0; hwc < USABLE_TIMER_CHANNEL_COUNT; hwc++) - if((timerChannelInfo[hwc].type != TYPE_FREE) && (timerHardware[hwc].tim == usedTimers[timer])) { + for (unsigned hwc = 0; hwc < USABLE_TIMER_CHANNEL_COUNT; hwc++) + if ((timerChannelInfo[hwc].type != TYPE_FREE) && (timerHardware[hwc].tim == usedTimers[timer])) { // TODO - move IRQ to timer info irq = timerHardware[hwc].irq; } // TODO - aggregate required timer paramaters configTimeBase(usedTimers[timer], 0, 1); TIM_Cmd(usedTimers[timer], ENABLE); - if(priority >= 0) { // maybe none of the channels was configured + if (priority >= 0) { // maybe none of the channels was configured NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = irq; diff --git a/src/main/drivers/timer_hal.c b/src/main/drivers/timer_hal.c index 30eb04e83..95653b451 100644 --- a/src/main/drivers/timer_hal.c +++ b/src/main/drivers/timer_hal.c @@ -86,7 +86,7 @@ static uint8_t lookupTimerIndex(const TIM_TypeDef *tim) #define _CASE(i) _CASE_(TIM##i##_BASE, TIMER_INDEX(i)) // let gcc do the work, switch should be quite optimized - switch((unsigned)tim >> _CASE_SHF) { + switch ((unsigned)tim >> _CASE_SHF) { #if USED_TIMERS & TIM_N(1) _CASE(1); #endif @@ -247,7 +247,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint32_t hz) if (timerIndex >= USED_TIMER_COUNT) { return; } - if(timerHandle[timerIndex].Handle.Instance == tim) + if (timerHandle[timerIndex].Handle.Instance == tim) { // already configured return; @@ -263,7 +263,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint32_t hz) timerHandle[timerIndex].Handle.Init.RepetitionCounter = 0x0000; HAL_TIM_Base_Init(&timerHandle[timerIndex].Handle); - if(tim == TIM1 || tim == TIM2 || tim == TIM3 || tim == TIM4 || tim == TIM5 || tim == TIM8 || tim == TIM9) + if (tim == TIM1 || tim == TIM2 || tim == TIM3 || tim == TIM4 || tim == TIM5 || tim == TIM8 || tim == TIM9) { TIM_ClockConfigTypeDef sClockSourceConfig; memset(&sClockSourceConfig, 0, sizeof(sClockSourceConfig)); @@ -273,7 +273,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint32_t hz) return; } } - if(tim == TIM1 || tim == TIM2 || tim == TIM3 || tim == TIM4 || tim == TIM5 || tim == TIM8 ) + if (tim == TIM1 || tim == TIM2 || tim == TIM3 || tim == TIM4 || tim == TIM5 || tim == TIM8 ) { TIM_MasterConfigTypeDef sMasterConfig; memset(&sMasterConfig, 0, sizeof(sMasterConfig)); @@ -300,7 +300,7 @@ void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, ui uint8_t irq = timerInputIrq(timerHardwarePtr->tim); timerNVICConfigure(irq); // HACK - enable second IRQ on timers that need it - switch(irq) { + switch (irq) { case TIM1_CC_IRQn: timerNVICConfigure(TIM1_UP_TIM10_IRQn); @@ -320,14 +320,14 @@ void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriori return; } unsigned channel = timHw - timerHardware; - if(channel >= USABLE_TIMER_CHANNEL_COUNT) + if (channel >= USABLE_TIMER_CHANNEL_COUNT) return; timerChannelInfo[channel].type = type; unsigned timer = lookupTimerIndex(timHw->tim); - if(timer >= USED_TIMER_COUNT) + if (timer >= USED_TIMER_COUNT) return; - if(irqPriority < timerInfo[timer].priority) { + if (irqPriority < timerInfo[timer].priority) { // it would be better to set priority in the end, but current startup sequence is not ready configTimeBase(usedTimers[timer], 0, 1); HAL_TIM_Base_Start(&timerHandle[timerIndex].Handle); @@ -361,15 +361,15 @@ static void timerChConfig_UpdateOverflow(timerConfig_t *cfg, TIM_TypeDef *tim) { timerOvrHandlerRec_t **chain = &cfg->overflowCallbackActive; ATOMIC_BLOCK(NVIC_PRIO_TIMER) { - for(int i = 0; i < CC_CHANNELS_PER_TIMER; i++) - if(cfg->overflowCallback[i]) { + for (int i = 0; i < CC_CHANNELS_PER_TIMER; i++) + if (cfg->overflowCallback[i]) { *chain = cfg->overflowCallback[i]; chain = &cfg->overflowCallback[i]->next; } *chain = NULL; } // enable or disable IRQ - if(cfg->overflowCallbackActive) + if (cfg->overflowCallbackActive) __HAL_TIM_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_UPDATE); else __HAL_TIM_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_UPDATE); @@ -383,13 +383,13 @@ void timerChConfigCallbacks(const timerHardware_t *timHw, timerCCHandlerRec_t *e return; } uint8_t channelIndex = lookupChannelIndex(timHw->channel); - if(edgeCallback == NULL) // disable irq before changing callback to NULL + if (edgeCallback == NULL) // disable irq before changing callback to NULL __HAL_TIM_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel)); // setup callback info timerConfig[timerIndex].edgeCallback[channelIndex] = edgeCallback; timerConfig[timerIndex].overflowCallback[channelIndex] = overflowCallback; // enable channel IRQ - if(edgeCallback) + if (edgeCallback) __HAL_TIM_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel)); timerChConfig_UpdateOverflow(&timerConfig[timerIndex], timHw->tim); @@ -408,9 +408,9 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_ uint16_t chHi = timHw->channel | TIM_CHANNEL_2; // upper channel uint8_t channelIndex = lookupChannelIndex(chLo); // get index of lower channel - if(edgeCallbackLo == NULL) // disable irq before changing setting callback to NULL + if (edgeCallbackLo == NULL) // disable irq before changing setting callback to NULL __HAL_TIM_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo)); - if(edgeCallbackHi == NULL) // disable irq before changing setting callback to NULL + if (edgeCallbackHi == NULL) // disable irq before changing setting callback to NULL __HAL_TIM_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi)); // setup callback info @@ -420,11 +420,11 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_ timerConfig[timerIndex].overflowCallback[channelIndex + 1] = NULL; // enable channel IRQs - if(edgeCallbackLo) { + if (edgeCallbackLo) { __HAL_TIM_CLEAR_FLAG(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo)); __HAL_TIM_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo)); } - if(edgeCallbackHi) { + if (edgeCallbackHi) { __HAL_TIM_CLEAR_FLAG(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi)); __HAL_TIM_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi)); } @@ -443,7 +443,7 @@ void timerChITConfigDualLo(const timerHardware_t *timHw, FunctionalState newStat return; } - if(newState) + if (newState) __HAL_TIM_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel&~TIM_CHANNEL_2)); else __HAL_TIM_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel&~TIM_CHANNEL_2)); @@ -462,7 +462,7 @@ void timerChITConfig(const timerHardware_t *timHw, FunctionalState newState) return; } - if(newState) + if (newState) __HAL_TIM_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel)); else __HAL_TIM_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel)); @@ -505,8 +505,8 @@ static unsigned getFilter(unsigned ticks) 16*5, 16*6, 16*8, 32*5, 32*6, 32*8 }; - for(unsigned i = 1; i < ARRAYLEN(ftab); i++) - if(ftab[i] > ticks) + for (unsigned i = 1; i < ARRAYLEN(ftab); i++) + if (ftab[i] > ticks) return i - 1; return 0x0f; } @@ -515,7 +515,7 @@ static unsigned getFilter(unsigned ticks) void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterTicks) { unsigned timer = lookupTimerIndex(timHw->tim); - if(timer >= USED_TIMER_COUNT) + if (timer >= USED_TIMER_COUNT) return; TIM_IC_InitTypeDef TIM_ICInitStructure; @@ -532,7 +532,7 @@ void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned void timerChConfigICDual(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterTicks) { unsigned timer = lookupTimerIndex(timHw->tim); - if(timer >= USED_TIMER_COUNT) + if (timer >= USED_TIMER_COUNT) return; TIM_IC_InitTypeDef TIM_ICInitStructure; @@ -579,7 +579,7 @@ volatile timCCR_t* timerChCCR(const timerHardware_t *timHw) void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHigh) { unsigned timer = lookupTimerIndex(timHw->tim); - if(timer >= USED_TIMER_COUNT) + if (timer >= USED_TIMER_COUNT) return; TIM_OC_InitTypeDef TIM_OCInitStructure; @@ -593,7 +593,7 @@ void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHig HAL_TIM_OC_ConfigChannel(&timerHandle[timer].Handle, &TIM_OCInitStructure, timHw->channel); - if(outEnable) { + if (outEnable) { TIM_OCInitStructure.OCMode = TIM_OCMODE_INACTIVE; HAL_TIM_OC_ConfigChannel(&timerHandle[timer].Handle, &TIM_OCInitStructure, timHw->channel); HAL_TIM_OC_Start(&timerHandle[timer].Handle, timHw->channel); @@ -610,17 +610,17 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig) unsigned tim_status; tim_status = tim->SR & tim->DIER; #if 1 - while(tim_status) { + while (tim_status) { // flags will be cleared by reading CCR in dual capture, make sure we call handler correctly // currrent order is highest bit first. Code should not rely on specific order (it will introduce race conditions anyway) unsigned bit = __builtin_clz(tim_status); unsigned mask = ~(0x80000000 >> bit); tim->SR = mask; tim_status &= mask; - switch(bit) { + switch (bit) { case __builtin_clz(TIM_IT_UPDATE): { - if(timerConfig->forcedOverflowTimerValue != 0){ + if (timerConfig->forcedOverflowTimerValue != 0) { capture = timerConfig->forcedOverflowTimerValue - 1; timerConfig->forcedOverflowTimerValue = 0; } else { @@ -628,7 +628,7 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig) } timerOvrHandlerRec_t *cb = timerConfig->overflowCallbackActive; - while(cb) { + while (cb) { cb->fn(cb, capture); cb = cb->next; } @@ -653,7 +653,7 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig) tim->SR = ~TIM_IT_Update; capture = tim->ARR; timerOvrHandlerRec_t *cb = timerConfig->overflowCallbackActive; - while(cb) { + while (cb) { cb->fn(cb, capture); cb = cb->next; } @@ -812,10 +812,10 @@ void timerInit(void) #endif // initialize timer channel structures - for(int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { + for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { timerChannelInfo[i].type = TYPE_FREE; } - for(int i = 0; i < USED_TIMER_COUNT; i++) { + for (int i = 0; i < USED_TIMER_COUNT; i++) { timerInfo[i].priority = ~0; } } @@ -826,18 +826,18 @@ void timerInit(void) void timerStart(void) { #if 0 - for(unsigned timer = 0; timer < USED_TIMER_COUNT; timer++) { + for (unsigned timer = 0; timer < USED_TIMER_COUNT; timer++) { int priority = -1; int irq = -1; - for(unsigned hwc = 0; hwc < USABLE_TIMER_CHANNEL_COUNT; hwc++) - if((timerChannelInfo[hwc].type != TYPE_FREE) && (timerHardware[hwc].tim == usedTimers[timer])) { + for (unsigned hwc = 0; hwc < USABLE_TIMER_CHANNEL_COUNT; hwc++) + if ((timerChannelInfo[hwc].type != TYPE_FREE) && (timerHardware[hwc].tim == usedTimers[timer])) { // TODO - move IRQ to timer info irq = timerHardware[hwc].irq; } // TODO - aggregate required timer paramaters configTimeBase(usedTimers[timer], 0, 1); TIM_Cmd(usedTimers[timer], ENABLE); - if(priority >= 0) { // maybe none of the channels was configured + if (priority >= 0) { // maybe none of the channels was configured NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = irq; @@ -913,4 +913,4 @@ uint16_t timerGetPrescalerByDesiredHertz(TIM_TypeDef *tim, uint32_t hz) return 0; } return (uint16_t)((timerClock(tim) + hz / 2 ) / hz) - 1; -} \ No newline at end of file +} diff --git a/src/main/drivers/transponder_ir.c b/src/main/drivers/transponder_ir.c index 1b26e691a..d0d81e075 100644 --- a/src/main/drivers/transponder_ir.c +++ b/src/main/drivers/transponder_ir.c @@ -188,7 +188,7 @@ void transponderIrWaitForTransmitComplete(void) { static uint32_t waitCounter = 0; - while(transponderIrDataTransferInProgress) { + while (transponderIrDataTransferInProgress) { waitCounter++; } } diff --git a/src/main/drivers/transponder_ir_erlt.c b/src/main/drivers/transponder_ir_erlt.c index 6b948fb94..86e85e117 100644 --- a/src/main/drivers/transponder_ir_erlt.c +++ b/src/main/drivers/transponder_ir_erlt.c @@ -55,7 +55,7 @@ void updateTransponderDMABufferERLT(transponder_t *transponder, const uint8_t* t addBitToBuffer(transponder, ERLTCyclesForZeroBit, ERLTBitQuiet); //add data bits, only the 6 LSB - for(int i = 5; i >= 0; i--) + for (int i = 5; i >= 0; i--) { uint8_t bv = (byteToSend >> i) & 0x01; paritysum += bv; diff --git a/src/main/drivers/vtx_common.c b/src/main/drivers/vtx_common.c index 2136549f5..fff7fcab6 100644 --- a/src/main/drivers/vtx_common.c +++ b/src/main/drivers/vtx_common.c @@ -67,7 +67,7 @@ void vtxCommonSetBandAndChannel(uint8_t band, uint8_t channel) if ((band > vtxDevice->capability.bandCount) || (channel > vtxDevice->capability.channelCount)) return; - + if (vtxDevice->vTable->setBandAndChannel) vtxDevice->vTable->setBandAndChannel(band, channel); } @@ -80,7 +80,7 @@ void vtxCommonSetPowerByIndex(uint8_t index) if (index > vtxDevice->capability.powerCount) return; - + if (vtxDevice->vTable->setPowerByIndex) vtxDevice->vTable->setPowerByIndex(index); } diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c index f0dce31e3..2d122a3ef 100755 --- a/src/main/fc/cli.c +++ b/src/main/fc/cli.c @@ -326,7 +326,7 @@ static void printValuePointer(const clivalue_t *var, const void *valuePointer, b break; } - switch(var->type & VALUE_MODE_MASK) { + switch (var->type & VALUE_MODE_MASK) { case MODE_DIRECT: cliPrintf("%d", value); if (full) { @@ -805,7 +805,7 @@ static void cliSerial(char *cmdline) break; } - switch(i) { + switch (i) { case 0: if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_1000000) { continue; @@ -859,7 +859,7 @@ static void cliSerialPassthrough(char *cmdline) int index = 0; while (tok != NULL) { - switch(index) { + switch (index) { case 0: id = atoi(tok); break; @@ -1325,7 +1325,7 @@ static void cliModeColor(char *cmdline) int modeIdx = args[MODE]; int funIdx = args[FUNCTION]; int color = args[COLOR]; - if(!setModeColor(modeIdx, funIdx, color)) { + if (!setModeColor(modeIdx, funIdx, color)) { cliShowParseError(); return; } @@ -2016,7 +2016,7 @@ static void cliBeeper(char *cmdline) if (len == 0) { cliPrintf("Disabled:"); for (int32_t i = 0; ; i++) { - if (i == beeperCount - 2){ + if (i == beeperCount - 2) { if (mask == 0) cliPrint(" none"); break; @@ -2126,7 +2126,7 @@ static void cliMap(char *cmdline) static char *checkCommand(char *cmdLine, const char *command) { - if(!strncasecmp(cmdLine, command, strlen(command)) // command names match + if (!strncasecmp(cmdLine, command, strlen(command)) // command names match && (isspace((unsigned)cmdLine[strlen(command)]) || cmdLine[strlen(command)] == 0)) { return cmdLine + strlen(command) + 1; } else { @@ -2280,13 +2280,13 @@ static void cliEscPassthrough(char *cmdline) while (pch != NULL) { switch (pos) { case 0: - if(strncasecmp(pch, "sk", strlen(pch)) == 0) { + if (strncasecmp(pch, "sk", strlen(pch)) == 0) { mode = PROTOCOL_SIMONK; - } else if(strncasecmp(pch, "bl", strlen(pch)) == 0) { + } else if (strncasecmp(pch, "bl", strlen(pch)) == 0) { mode = PROTOCOL_BLHELI; - } else if(strncasecmp(pch, "ki", strlen(pch)) == 0) { + } else if (strncasecmp(pch, "ki", strlen(pch)) == 0) { mode = PROTOCOL_KISS; - } else if(strncasecmp(pch, "cc", strlen(pch)) == 0) { + } else if (strncasecmp(pch, "cc", strlen(pch)) == 0) { mode = PROTOCOL_KISSALL; } else { cliShowParseError(); @@ -3464,7 +3464,7 @@ void cliProcess(void) break; } } - if(cmd < cmdTable + ARRAYLEN(cmdTable)) + if (cmd < cmdTable + ARRAYLEN(cmdTable)) cmd->func(options); else cliPrint("Unknown command, try 'help'"); diff --git a/src/main/fc/config.c b/src/main/fc/config.c index f275e1273..8fc0ce935 100755 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -351,7 +351,7 @@ void validateAndFixConfig(void) #endif #ifndef USE_OSD_SLAVE - if((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){ + if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) { motorConfigMutable()->mincommand = 1000; } @@ -467,7 +467,7 @@ void validateAndFixGyroConfig(void) // check for looptime restrictions based on motor protocol. Motor times have safety margin const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom; float motorUpdateRestriction; - switch(motorConfig()->dev.motorPwmProtocol) { + switch (motorConfig()->dev.motorPwmProtocol) { case (PWM_TYPE_STANDARD): motorUpdateRestriction = 1.0f/BRUSHLESS_MOTORS_PWM_RATE; break; @@ -498,7 +498,7 @@ void validateAndFixGyroConfig(void) if (motorConfig()->dev.useUnsyncedPwm && (motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) { uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction); - if(motorConfig()->dev.motorPwmRate > maxEscRate) + if (motorConfig()->dev.motorPwmRate > maxEscRate) motorConfigMutable()->dev.motorPwmRate = maxEscRate; } } diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c index 2723f7c27..a405e8dac 100644 --- a/src/main/fc/fc_core.c +++ b/src/main/fc/fc_core.c @@ -649,7 +649,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs) static uint8_t pidUpdateCountdown; #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC) - if(lockMainPID() != 0) return; + if (lockMainPID() != 0) return; #endif if (debugMode == DEBUG_CYCLETIME) { diff --git a/src/main/fc/fc_dispatch.c b/src/main/fc/fc_dispatch.c index 1e50135dd..61d19d2ad 100644 --- a/src/main/fc/fc_dispatch.c +++ b/src/main/fc/fc_dispatch.c @@ -42,8 +42,8 @@ void dispatchEnable(void) void dispatchProcess(uint32_t currentTime) { - for(dispatchEntry_t **p = &head; *p; ) { - if(cmp32(currentTime, (*p)->delayedUntil) < 0) + for (dispatchEntry_t **p = &head; *p; ) { + if (cmp32(currentTime, (*p)->delayedUntil) < 0) break; // unlink entry first, so handler can replan self dispatchEntry_t *current = *p; @@ -56,7 +56,7 @@ void dispatchAdd(dispatchEntry_t *entry, int delayUs) { uint32_t delayedUntil = micros() + delayUs; dispatchEntry_t **p = &head; - while(*p && cmp32((*p)->delayedUntil, delayedUntil) < 0) + while (*p && cmp32((*p)->delayedUntil, delayedUntil) < 0) p = &(*p)->next; entry->next = *p; *p = entry; diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 64dfe4c58..370e68f95 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -455,10 +455,10 @@ void init(void) #endif #ifdef USE_I2C_DEVICE_3 i2cInit(I2CDEV_3); -#endif +#endif #ifdef USE_I2C_DEVICE_4 i2cInit(I2CDEV_4); -#endif +#endif #endif /* USE_I2C */ #endif /* TARGET_BUS_INIT */ diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 97a562c85..d4414d975 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -214,7 +214,7 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr escPortIndex = sbufReadU8(src); } - switch(escMode) { + switch (escMode) { case ESC_4WAY: // get channel number // switch all motor lines HI @@ -284,7 +284,7 @@ const box_t *findBoxByPermanentId(uint8_t permanentId) static bool activeBoxIdGet(boxId_e boxId) { - if(boxId > sizeof(activeBoxIds) * 8) + if (boxId > sizeof(activeBoxIds) * 8) return false; return bitArrayGet(&activeBoxIds, boxId); } @@ -328,7 +328,7 @@ void initActiveBoxIds(void) memset(&ena, 0, sizeof(ena)); // macro to enable boxId (BoxidMaskEnable). Reference to ena is hidden, local use only -#define BME(boxId) do { bitArraySet(&ena, boxId); } while(0) +#define BME(boxId) do { bitArraySet(&ena, boxId); } while (0) BME(BOXARM); if (!feature(FEATURE_AIRMODE)) { diff --git a/src/main/fc/fc_rc.c b/src/main/fc/fc_rc.c index afc1f45b7..ee4da972d 100755 --- a/src/main/fc/fc_rc.c +++ b/src/main/fc/fc_rc.c @@ -139,7 +139,7 @@ static void scaleRcCommandToFpvCamAngle(void) { static float cosFactor = 1.0; static float sinFactor = 0.0; - if (lastFpvCamAngleDegrees != rxConfig()->fpvCamAngleDegrees){ + if (lastFpvCamAngleDegrees != rxConfig()->fpvCamAngleDegrees) { lastFpvCamAngleDegrees = rxConfig()->fpvCamAngleDegrees; cosFactor = cos_approx(rxConfig()->fpvCamAngleDegrees * RAD); sinFactor = sin_approx(rxConfig()->fpvCamAngleDegrees * RAD); @@ -167,7 +167,7 @@ static void scaleRcCommandToFpvCamAngle(void) { const int16_t rcCommandSpeed = rcCommand[THROTTLE] - rcCommandThrottlePrevious[index]; - if(ABS(rcCommandSpeed) > throttleVelocityThreshold) + if (ABS(rcCommandSpeed) > throttleVelocityThreshold) pidSetItermAccelerator(CONVERT_PARAMETER_TO_FLOAT(currentPidProfile->itermAcceleratorGain)); else pidSetItermAccelerator(1.0f); @@ -193,7 +193,7 @@ void processRcCommand(void) if (rxConfig()->rcInterpolation) { // Set RC refresh rate for sampling and channels to filter - switch(rxConfig()->rcInterpolation) { + switch (rxConfig()->rcInterpolation) { case(RC_SMOOTHING_AUTO): rxRefreshRate = currentRxRefreshRate + 1000; // Add slight overhead to prevent ramps break; diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c index 3ad6b0486..beeeabe14 100644 --- a/src/main/fc/rc_adjustments.c +++ b/src/main/fc/rc_adjustments.c @@ -221,7 +221,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t beeperConfirmationBeeps(delta > 0 ? 2 : 1); int newValue; - switch(adjustmentFunction) { + switch (adjustmentFunction) { case ADJUSTMENT_RC_RATE: newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c controlRateConfig->rcRate8 = newValue; @@ -339,7 +339,7 @@ static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position) { uint8_t beeps = 0; - switch(adjustmentFunction) { + switch (adjustmentFunction) { case ADJUSTMENT_RATE_PROFILE: { if (getCurrentControlRateProfileIndex() != position) { @@ -352,7 +352,7 @@ static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position) case ADJUSTMENT_HORIZON_STRENGTH: { uint8_t newValue = constrain(position, 0, 200); // FIXME magic numbers repeated in serial_cli.c - if(pidProfile->pid[PID_LEVEL].D != newValue) { + if (pidProfile->pid[PID_LEVEL].D != newValue) { beeps = ((newValue - pidProfile->pid[PID_LEVEL].D) / 8) + 1; pidProfile->pid[PID_LEVEL].D = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_HORIZON_STRENGTH, position); diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index efa4b853c..f4e472d4f 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -317,7 +317,7 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz, } // Compute and apply integral feedback if enabled - if(imuRuntimeConfig.dcm_ki > 0.0f) { + if (imuRuntimeConfig.dcm_ki > 0.0f) { // Stop integrating if spinning beyond the certain limit if (spin_rate < DEGREES_TO_RADIANS(SPIN_RATE_LIMIT)) { const float dcmKiGain = imuRuntimeConfig.dcm_ki; @@ -455,7 +455,7 @@ void imuUpdateAttitude(timeUs_t currentTimeUs) if (sensors(SENSOR_ACC) && acc.isAccelUpdatedAtLeastOnce) { IMU_LOCK; #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_IMU_SYNC) - if(imuUpdated == false){ + if (imuUpdated == false) { IMU_UNLOCK; return; } diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index aa7b14b59..bba155a49 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -339,7 +339,7 @@ bool mixerIsOutputSaturated(int axis, float errorRate) // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator // DSHOT scaling is done to the actual dshot range void initEscEndpoints(void) { - switch(motorConfig()->dev.motorPwmProtocol) { + switch (motorConfig()->dev.motorPwmProtocol) { #ifdef USE_DSHOT case PWM_TYPE_PROSHOT1000: case PWM_TYPE_DSHOT1200: @@ -516,7 +516,7 @@ void mixTable(pidProfile_t *pidProfile) throttlePrevious = rcCommand[THROTTLE]; throttle = rcCommand[THROTTLE] - rxConfig()->mincheck; currentThrottleInputRange = rcCommandThrottleRange3dLow; - if(isMotorProtocolDshot()) mixerInversion = true; + if (isMotorProtocolDshot()) mixerInversion = true; } else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) { // Positive handling motorOutputMax = motorOutputHigh; motorOutputMin = deadbandMotor3dHigh; @@ -528,7 +528,7 @@ void mixTable(pidProfile_t *pidProfile) motorOutputMin = motorOutputLow; throttle = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle; currentThrottleInputRange = rcCommandThrottleRange3dLow; - if(isMotorProtocolDshot()) mixerInversion = true; + if (isMotorProtocolDshot()) mixerInversion = true; } else { // Deadband handling from positive to negative motorOutputMax = motorOutputHigh; motorOutputMin = deadbandMotor3dHigh; @@ -561,8 +561,8 @@ void mixTable(pidProfile_t *pidProfile) float motorMixMax = 0, motorMixMin = 0; const int yawDirection = GET_DIRECTION(mixerConfig()->yaw_motors_reversed); int motorDirection = GET_DIRECTION(isMotorsReversed()); - - + + for (int i = 0; i < motorCount; i++) { float mix = scaledAxisPidRoll * currentMixer[i].roll * (motorDirection) + diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 46411982e..b1929cc5e 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -243,7 +243,7 @@ static float crashDtermThreshold; static float crashGyroThreshold; void pidInitConfig(const pidProfile_t *pidProfile) { - for(int axis = FD_ROLL; axis <= FD_YAW; axis++) { + for (int axis = FD_ROLL; axis <= FD_YAW; axis++) { Kp[axis] = PTERM_SCALE * pidProfile->pid[axis].P; Ki[axis] = ITERM_SCALE * pidProfile->pid[axis].I; Kd[axis] = DTERM_SCALE * pidProfile->pid[axis].D; @@ -359,7 +359,7 @@ static float accelerationLimit(int axis, float currentPidSetpoint) { static float previousSetpoint[3]; const float currentVelocity = currentPidSetpoint- previousSetpoint[axis]; - if(ABS(currentVelocity) > maxVelocity[axis]) + if (ABS(currentVelocity) > maxVelocity[axis]) currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis]; previousSetpoint[axis] = currentPidSetpoint; @@ -383,7 +383,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an for (int axis = FD_ROLL; axis <= FD_YAW; axis++) { float currentPidSetpoint = getSetpointRate(axis); - if(maxVelocity[axis]) + if (maxVelocity[axis]) currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint); // Yaw control is GYRO based, direct sticks control is applied to rate PID diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c index 30ff2eb52..5d7afdca9 100644 --- a/src/main/io/beeper.c +++ b/src/main/io/beeper.c @@ -363,7 +363,7 @@ void beeperUpdate(timeUs_t currentTimeUs) } #ifdef USE_DSHOT - if (!ARMING_FLAG(ARMED) && currentBeeperEntry->mode == BEEPER_RX_SET) { + if (!ARMING_FLAG(ARMED) && currentBeeperEntry->mode == BEEPER_RX_SET) { for (unsigned index = 0; index < getMotorCount(); index++) { pwmWriteDshotCommand(index, DSHOT_CMD_BEEP3); } diff --git a/src/main/io/gps.c b/src/main/io/gps.c index 46b086be6..102b21fbe 100755 --- a/src/main/io/gps.c +++ b/src/main/io/gps.c @@ -118,14 +118,14 @@ static const uint8_t ubloxInit[] = { 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, // Collected by resetting a GPS unit to defaults. Changing mode to Pedistrian and 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, // capturing the data from the U-Center binary console. 0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xC2, - + //Preprocessor Airborne_1g Dynamic Platform Model Option #elif defined(GPS_UBLOX_MODE_AIRBORNE_1G) 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, // CFG-NAV5 - Set engine settings 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, // Collected by resetting a GPS unit to defaults. Changing mode to Airborne with 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, // <1g acceleration and capturing the data from the U-Center binary console. 0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1A, 0x28, - + //Default Airborne_4g Dynamic Platform Model #else 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x08, 0x03, 0x00, // CFG-NAV5 - Set engine settings @@ -133,7 +133,7 @@ static const uint8_t ubloxInit[] = { 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, // <4g acceleration and capturing the data from the U-Center binary console. 0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1C, 0x6C, #endif - + // DISABLE NMEA messages 0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x05, 0x00, 0xFF, 0x19, // VGS: Course over ground and Ground speed 0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x03, 0x00, 0xFD, 0x15, // GSV: GNSS Satellites in View @@ -273,7 +273,7 @@ void gpsInitNmea(void) #if defined(COLIBRI_RACE) || defined(LUX_RACE) uint32_t now; #endif - switch(gpsData.state) { + switch (gpsData.state) { case GPS_INITIALIZING: #if defined(COLIBRI_RACE) || defined(LUX_RACE) now = millis(); @@ -361,7 +361,7 @@ void gpsInitUblox(void) case GPS_CONFIGURE: // Either use specific config file for GPS or let dynamically upload config - if( gpsConfig()->autoConfig == GPS_AUTOCONFIG_OFF ) { + if ( gpsConfig()->autoConfig == GPS_AUTOCONFIG_OFF ) { gpsSetState(GPS_RECEIVING_DATA); break; } @@ -628,7 +628,7 @@ static bool gpsNewFrameNMEA(char c) switch (gps_frame) { case FRAME_GGA: //************* GPGGA FRAME parsing - switch(param) { + switch (param) { // case 1: // Time information // break; case 2: @@ -661,7 +661,7 @@ static bool gpsNewFrameNMEA(char c) } break; case FRAME_RMC: //************* GPRMC FRAME parsing - switch(param) { + switch (param) { case 7: gps_Msg.speed = ((grab_fields(string, 1) * 5144L) / 1000L); // speed in cm/s added by Mis break; @@ -671,7 +671,7 @@ static bool gpsNewFrameNMEA(char c) } break; case FRAME_GSV: - switch(param) { + switch (param) { /*case 1: // Total number of messages of this type in this cycle break; */ @@ -684,17 +684,17 @@ static bool gpsNewFrameNMEA(char c) GPS_numCh = grab_fields(string, 0); break; } - if(param < 4) + if (param < 4) break; svPacketIdx = (param - 4) / 4 + 1; // satellite number in packet, 1-4 svSatNum = svPacketIdx + (4 * (svMessageNum - 1)); // global satellite number svSatParam = param - 3 - (4 * (svPacketIdx - 1)); // parameter number for satellite - if(svSatNum > GPS_SV_MAXSATS) + if (svSatNum > GPS_SV_MAXSATS) break; - switch(svSatParam) { + switch (svSatParam) { case 1: // SV PRN number GPS_svinfo_chn[svSatNum - 1] = svSatNum; @@ -980,7 +980,7 @@ static bool UBLOX_parse_gps(void) GPS_numCh = _buffer.svinfo.numCh; if (GPS_numCh > 16) GPS_numCh = 16; - for (i = 0; i < GPS_numCh; i++){ + for (i = 0; i < GPS_numCh; i++) { GPS_svinfo_chn[i]= _buffer.svinfo.channel[i].chn; GPS_svinfo_svid[i]= _buffer.svinfo.channel[i].svid; GPS_svinfo_quality[i]=_buffer.svinfo.channel[i].quality; @@ -1103,7 +1103,7 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort) waitForSerialPortToFinishTransmitting(gpsPort); waitForSerialPortToFinishTransmitting(gpsPassthroughPort); - if(!(gpsPort->mode & MODE_TX)) + if (!(gpsPort->mode & MODE_TX)) serialSetMode(gpsPort, gpsPort->mode | MODE_TX); #ifdef USE_DASHBOARD diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c index 4bd3b4eb6..8c9da5069 100644 --- a/src/main/io/ledstrip.c +++ b/src/main/io/ledstrip.c @@ -600,35 +600,35 @@ static void applyLedVtxLayer(bool updateNow, timeUs_t *timer) // check if last vtx values have changed. check = pit + (power << 1) + (band << 4) + (channel << 8); - if(!showSettings && check != lastCheck) { + if (!showSettings && check != lastCheck) { // display settings for 3 seconds. showSettings = 15; } lastCheck = check; // quick way to check if any settings changed. - if(showSettings) { + if (showSettings) { showSettings--; } blink = !blink; *timer += HZ_TO_US(5); // check 5 times a second } - if(!active) { // no vtx device detected + if (!active) { // no vtx device detected return; } hsvColor_t color = {0, 0, 0}; - if(showSettings) { // show settings + if (showSettings) { // show settings uint8_t vtxLedCount = 0; for (int i = 0; i < ledCounts.count && vtxLedCount < 6; ++i) { const ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[i]; if (ledGetOverlayBit(ledConfig, LED_OVERLAY_VTX)) { - if(vtxLedCount == 0) { + if (vtxLedCount == 0) { color.h = HSV(GREEN).h; color.s = HSV(GREEN).s; color.v = blink ? 15 : 0; // blink received settings } - else if(vtxLedCount > 0 && power >= vtxLedCount && !pit) { // show power + else if (vtxLedCount > 0 && power >= vtxLedCount && !pit) { // show power color.h = HSV(ORANGE).h; color.s = HSV(ORANGE).s; color.v = blink ? 15 : 0; // blink received settings @@ -949,7 +949,7 @@ static void applyLedAnimationLayer(bool updateNow, timeUs_t *timer) { static uint8_t frameCounter = 0; const int animationFrames = ledGridRows; - if(updateNow) { + if (updateNow) { frameCounter = (frameCounter + 1 < animationFrames) ? frameCounter + 1 : 0; *timer += HZ_TO_US(20); } @@ -1087,7 +1087,7 @@ bool parseColor(int index, const char *colorConfig) }; for (int componentIndex = 0; result && componentIndex < HSV_COLOR_COMPONENT_COUNT; componentIndex++) { int val = atoi(remainingCharacters); - if(val > hsv_limit[componentIndex]) { + if (val > hsv_limit[componentIndex]) { result = false; break; } @@ -1128,7 +1128,7 @@ bool setModeColor(ledModeIndex_e modeIndex, int modeColorIndex, int colorIndex) if (colorIndex < 0 || colorIndex >= LED_CONFIGURABLE_COLOR_COUNT) return false; if (modeIndex < LED_MODE_COUNT) { // modeIndex_e is unsigned, so one-sided test is enough - if(modeColorIndex < 0 || modeColorIndex >= LED_DIRECTION_COUNT) + if (modeColorIndex < 0 || modeColorIndex >= LED_DIRECTION_COUNT) return false; ledStripConfigMutable()->modeColors[modeIndex].color[modeColorIndex] = colorIndex; } else if (modeIndex == LED_SPECIAL) { diff --git a/src/main/io/osd.c b/src/main/io/osd.c index da47e6bed..6a8b00459 100755 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -177,7 +177,7 @@ static int osdGetBatteryAverageCellVoltage(void) static char osdGetBatterySymbol(int cellVoltage) { - if(getBatteryState() == BATTERY_CRITICAL) { + if (getBatteryState() == BATTERY_CRITICAL) { return SYM_MAIN_BATT; // FIXME: currently the BAT- symbol, ideally replace with a battery with exclamation mark } else { /* Calculate a symbol offset using cell voltage over full cell voltage range */ @@ -532,7 +532,7 @@ static void osdDrawSingleElement(uint8_t item) } /* Show battery state warning */ - switch(getBatteryState()) { + switch (getBatteryState()) { case BATTERY_WARNING: tfp_sprintf(buff, "LOW BATTERY"); break; @@ -586,7 +586,7 @@ static void osdDrawSingleElement(uint8_t item) //Create empty battery indicator bar buff[0] = SYM_PB_START; - for(uint8_t i = 1; i <= MAIN_BATT_USAGE_STEPS; i++) { + for (uint8_t i = 1; i <= MAIN_BATT_USAGE_STEPS; i++) { if (i <= mAhUsedProgress) buff[i] = SYM_PB_FULL; else diff --git a/src/main/io/rcsplit.c b/src/main/io/rcsplit.c index 774d40aa6..ef61998c7 100644 --- a/src/main/io/rcsplit.c +++ b/src/main/io/rcsplit.c @@ -48,7 +48,7 @@ static uint8_t crc_high_first(uint8_t *ptr, uint8_t len) uint8_t i; uint8_t crc=0x00; while (len--) { - crc ^= *ptr++; + crc ^= *ptr++; for (i=8; i>0; --i) { if (crc & 0x80) crc = (crc << 1) ^ 0x31; @@ -111,7 +111,7 @@ static void rcSplitProcessMode() argument = RCSPLIT_CTRL_ARGU_INVALID; break; } - + if (argument != RCSPLIT_CTRL_ARGU_INVALID) { sendCtrlCommand(argument); switchStates[switchIndex].isActivated = true; @@ -140,7 +140,7 @@ bool rcSplitInit(void) uint8_t switchIndex = i - BOXCAMERA1; switchStates[switchIndex].isActivated = true; } - + cameraState = RCSPLIT_STATE_IS_READY; #ifdef USE_RCSPLIT diff --git a/src/main/io/serial.c b/src/main/io/serial.c index ec303ca91..65c59c022 100644 --- a/src/main/io/serial.c +++ b/src/main/io/serial.c @@ -345,7 +345,7 @@ serialPort_t *openSerialPort( serialPort_t *serialPort = NULL; - switch(identifier) { + switch (identifier) { #ifdef USE_VCP case SERIAL_PORT_USB_VCP: serialPort = usbVcpOpen(); @@ -536,7 +536,7 @@ void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer * // Either port might be open in a mode other than MODE_RXTX. We rely on // serialRxBytesWaiting() to do the right thing for a TX only port. No // special handling is necessary OR performed. - while(1) { + while (1) { // TODO: maintain a timestamp of last data received. Use this to // implement a guard interval and check for `+++` as an escape sequence // to return to CLI command mode. diff --git a/src/main/io/serial_4way.c b/src/main/io/serial_4way.c index fdb028629..ebdb0d21d 100644 --- a/src/main/io/serial_4way.c +++ b/src/main/io/serial_4way.c @@ -310,7 +310,7 @@ uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data) { int i; crc = crc ^ ((uint16_t)data << 8); - for (i=0; i < 8; i++){ + for (i=0; i < 8; i++) { if (crc & 0x8000) crc = (crc << 1) ^ 0x1021; else @@ -432,7 +432,7 @@ void esc4wayProcess(serialPort_t *mspPort) #endif bool isExitScheduled = false; - while(1) { + while (1) { // restart looking for new sequence from host do { CRC_in.word = 0; @@ -460,7 +460,7 @@ void esc4wayProcess(serialPort_t *mspPort) CRC_check.bytes[1] = ReadByte(); CRC_check.bytes[0] = ReadByte(); - if(CRC_check.word == CRC_in.word) { + if (CRC_check.word == CRC_in.word) { ACK_OUT = ACK_OK; } else { ACK_OUT = ACK_I_INVALID_CRC; @@ -475,12 +475,12 @@ void esc4wayProcess(serialPort_t *mspPort) ioMem.D_PTR_I = ParamBuf; - switch(CMD) { + switch (CMD) { // ******* Interface related stuff ******* case cmd_InterfaceTestAlive: { - if (isMcuConnected()){ - switch(CurrentInterfaceMode) + if (isMcuConnected()) { + switch (CurrentInterfaceMode) { #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER case imATM_BLB: @@ -599,7 +599,7 @@ void esc4wayProcess(serialPort_t *mspPort) } O_PARAM_LEN = DeviceInfoSize; //4 O_PARAM = (uint8_t *)&DeviceInfo; - if(Connect(&DeviceInfo)) { + if (Connect(&DeviceInfo)) { DeviceInfo.bytes[INTF_MODE_IDX] = CurrentInterfaceMode; } else { SET_DISCONNECTED; @@ -611,7 +611,7 @@ void esc4wayProcess(serialPort_t *mspPort) #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER case cmd_DeviceEraseAll: { - switch(CurrentInterfaceMode) + switch (CurrentInterfaceMode) { case imSK: { @@ -661,14 +661,14 @@ void esc4wayProcess(serialPort_t *mspPort) wtf.D_FLASH_ADDR_L=Adress_L; wtf.D_PTR_I = BUF_I; */ - switch(CurrentInterfaceMode) + switch (CurrentInterfaceMode) { #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER case imSIL_BLB: case imATM_BLB: case imARM_BLB: { - if(!BL_ReadFlash(CurrentInterfaceMode, &ioMem)) + if (!BL_ReadFlash(CurrentInterfaceMode, &ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } @@ -678,7 +678,7 @@ void esc4wayProcess(serialPort_t *mspPort) #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER case imSK: { - if(!Stk_ReadFlash(&ioMem)) + if (!Stk_ReadFlash(&ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } @@ -729,7 +729,7 @@ void esc4wayProcess(serialPort_t *mspPort) default: ACK_OUT = ACK_I_INVALID_CMD; } - if(ACK_OUT == ACK_OK) + if (ACK_OUT == ACK_OK) { O_PARAM_LEN = ioMem.D_NUM_BYTES; O_PARAM = (uint8_t *)&ParamBuf; diff --git a/src/main/io/serial_4way_avrootloader.c b/src/main/io/serial_4way_avrootloader.c index 47142dc6e..9ffa40979 100644 --- a/src/main/io/serial_4way_avrootloader.c +++ b/src/main/io/serial_4way_avrootloader.c @@ -86,7 +86,7 @@ static uint8_t suart_getc_(uint8_t *bt) uint16_t bitmask = 0; uint8_t bit = 0; while (micros() < btime); - while(1) { + while (1) { if (ESC_IS_HI) { bitmask |= (1 << bit); @@ -109,8 +109,8 @@ static void suart_putc_(uint8_t *tx_b) // shift out stopbit first uint16_t bitmask = (*tx_b << 2) | 1 | (1 << 10); uint32_t btime = micros(); - while(1) { - if(bitmask & 1) { + while (1) { + if (bitmask & 1) { ESC_SET_HI; // 1 } else { @@ -148,22 +148,22 @@ static uint8_t BL_ReadBuf(uint8_t *pstring, uint8_t len) LastCRC_16.word = 0; uint8_t LastACK = brNONE; do { - if(!suart_getc_(pstring)) goto timeout; + if (!suart_getc_(pstring)) goto timeout; ByteCrc(pstring); pstring++; len--; - } while(len > 0); + } while (len > 0); - if(isMcuConnected()) { + if (isMcuConnected()) { //With CRC read 3 more - if(!suart_getc_(&LastCRC_16.bytes[0])) goto timeout; - if(!suart_getc_(&LastCRC_16.bytes[1])) goto timeout; - if(!suart_getc_(&LastACK)) goto timeout; + if (!suart_getc_(&LastCRC_16.bytes[0])) goto timeout; + if (!suart_getc_(&LastCRC_16.bytes[1])) goto timeout; + if (!suart_getc_(&LastACK)) goto timeout; if (CRC_16.word != LastCRC_16.word) { LastACK = brERRORCRC; } } else { - if(!suart_getc_(&LastACK)) goto timeout; + if (!suart_getc_(&LastACK)) goto timeout; } timeout: return (LastACK == brSUCCESS); @@ -252,7 +252,7 @@ void BL_SendCMDRunRestartBootloader(uint8_32_u *pDeviceInfo) static uint8_t BL_SendCMDSetAddress(ioMem_t *pMem) //supports only 16 bit Adr { // skip if adr == 0xFFFF - if((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1; + if ((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1; uint8_t sCMD[] = {CMD_SET_ADDRESS, 0, pMem->D_FLASH_ADDR_H, pMem->D_FLASH_ADDR_L }; BL_SendBuf(sCMD, 4); return (BL_GetACK(2) == brSUCCESS); @@ -294,7 +294,7 @@ static uint8_t BL_WriteA(uint8_t cmd, ioMem_t *pMem, uint32_t timeout) uint8_t BL_ReadFlash(uint8_t interface_mode, ioMem_t *pMem) { - if(interface_mode == imATM_BLB) { + if (interface_mode == imATM_BLB) { return BL_ReadA(CMD_READ_FLASH_ATM, pMem); } else { return BL_ReadA(CMD_READ_FLASH_SIL, pMem); diff --git a/src/main/io/serial_4way_stk500v2.c b/src/main/io/serial_4way_stk500v2.c index 8df63d3e6..8bd873960 100644 --- a/src/main/io/serial_4way_stk500v2.c +++ b/src/main/io/serial_4way_stk500v2.c @@ -176,9 +176,9 @@ static uint8_t StkReadLeader(void) // Wait for the first bit uint32_t waitcycl; //250uS each - if((StkCmd == CMD_PROGRAM_EEPROM_ISP) || (StkCmd == CMD_CHIP_ERASE_ISP)) { + if ((StkCmd == CMD_PROGRAM_EEPROM_ISP) || (StkCmd == CMD_CHIP_ERASE_ISP)) { waitcycl = STK_WAITCYLCES_EXT; - } else if(StkCmd == CMD_SIGN_ON) { + } else if (StkCmd == CMD_SIGN_ON) { waitcycl = STK_WAITCYLCES_START; } else { waitcycl= STK_WAITCYLCES; @@ -189,7 +189,7 @@ static uint8_t StkReadLeader(void) } //Skip the first bits - if (waitcycl == 0){ + if (waitcycl == 0) { goto timeout; } @@ -271,7 +271,7 @@ static uint8_t _CMD_LOAD_ADDRESS(ioMem_t *pMem) { // ignore 0xFFFF // assume address is set before and we read or write the immediately following package - if((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1; + if ((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1; StkCmd = CMD_LOAD_ADDRESS; StkSendPacketHeader(); StkSendByte(0); // hi byte Msg len diff --git a/src/main/io/vtx_control.c b/src/main/io/vtx_control.c index e952bd95f..622f656e7 100644 --- a/src/main/io/vtx_control.c +++ b/src/main/io/vtx_control.c @@ -226,7 +226,7 @@ void handleVTXControlButton(void) LED1_OFF; - switch(actionCounter) { + switch (actionCounter) { case 4: vtxCycleBandOrChannel(0, +1); break; diff --git a/src/main/io/vtx_smartaudio.c b/src/main/io/vtx_smartaudio.c index 5b3743ce9..8298b8eb8 100644 --- a/src/main/io/vtx_smartaudio.c +++ b/src/main/io/vtx_smartaudio.c @@ -332,7 +332,7 @@ static void saProcessResponse(uint8_t *buf, int len) dprintf(("processResponse: outstanding %d got %d\r\n", sa_outstanding, resp)); } - switch(resp) { + switch (resp) { case SA_CMD_GET_SETTINGS_V2: // Version 2 Get Settings case SA_CMD_GET_SETTINGS: // Version 1 Get Settings if (len < 7) @@ -420,7 +420,7 @@ static void saReceiveFramer(uint8_t c) static int len; static int dlen; - switch(state) { + switch (state) { case S_WAITPRE1: if (c == 0xAA) { state = S_WAITPRE2; diff --git a/src/main/io/vtx_tramp.c b/src/main/io/vtx_tramp.c index c62d625c8..c00375cf8 100644 --- a/src/main/io/vtx_tramp.c +++ b/src/main/io/vtx_tramp.c @@ -134,7 +134,7 @@ void trampCmdU16(uint8_t cmd, uint16_t param) void trampSetFreq(uint16_t freq) { trampConfFreq = freq; - if(trampConfFreq != trampCurFreq) + if (trampConfFreq != trampCurFreq) trampFreqRetries = TRAMP_MAX_RETRIES; } @@ -151,7 +151,7 @@ void trampSetBandAndChannel(uint8_t band, uint8_t channel) void trampSetRFPower(uint16_t level) { trampConfPower = level; - if(trampConfPower != trampPower) + if (trampConfPower != trampPower) trampPowerRetries = TRAMP_MAX_RETRIES; } @@ -163,7 +163,7 @@ void trampSendRFPower(uint16_t level) // return false if error bool trampCommitChanges() { - if(trampStatus != TRAMP_STATUS_ONLINE) + if (trampStatus != TRAMP_STATUS_ONLINE) return false; trampStatus = TRAMP_STATUS_SET_FREQ_PW; @@ -184,7 +184,7 @@ char trampHandleResponse(void) case 'r': { uint16_t min_freq = trampRespBuffer[2]|(trampRespBuffer[3] << 8); - if(min_freq != 0) { + if (min_freq != 0) { trampRFFreqMin = min_freq; trampRFFreqMax = trampRespBuffer[4]|(trampRespBuffer[5] << 8); trampRFPowerMax = trampRespBuffer[6]|(trampRespBuffer[7] << 8); @@ -198,15 +198,15 @@ char trampHandleResponse(void) case 'v': { uint16_t freq = trampRespBuffer[2]|(trampRespBuffer[3] << 8); - if(freq != 0) { + if (freq != 0) { trampCurFreq = freq; trampConfiguredPower = trampRespBuffer[4]|(trampRespBuffer[5] << 8); trampPitMode = trampRespBuffer[7]; trampPower = trampRespBuffer[8]|(trampRespBuffer[9] << 8); vtx58_Freq2Bandchan(trampCurFreq, &trampBand, &trampChannel); - if(trampConfFreq == 0) trampConfFreq = trampCurFreq; - if(trampConfPower == 0) trampConfPower = trampPower; + if (trampConfFreq == 0) trampConfFreq = trampCurFreq; + if (trampConfPower == 0) trampConfPower = trampPower; return 'v'; } @@ -217,7 +217,7 @@ char trampHandleResponse(void) case 's': { uint16_t temp = (int16_t)(trampRespBuffer[6]|(trampRespBuffer[7] << 8)); - if(temp != 0) { + if (temp != 0) { trampTemperature = temp; return 's'; } @@ -263,7 +263,7 @@ static char trampReceive(uint32_t currentTimeUs) uint8_t c = serialRead(trampSerialPort); trampRespBuffer[trampReceivePos++] = c; - switch(trampReceiveState) { + switch (trampReceiveState) { case S_WAIT_LEN: if (c == 0x0F) { trampReceiveState = S_WAIT_CODE; @@ -339,7 +339,7 @@ void vtxTrampProcess(uint32_t currentTimeUs) debug[0] = trampStatus; #endif - switch(replyCode) { + switch (replyCode) { case 'r': if (trampStatus <= TRAMP_STATUS_OFFLINE) trampStatus = TRAMP_STATUS_ONLINE; @@ -351,7 +351,7 @@ void vtxTrampProcess(uint32_t currentTimeUs) break; } - switch(trampStatus) { + switch (trampStatus) { case TRAMP_STATUS_OFFLINE: case TRAMP_STATUS_ONLINE: @@ -361,7 +361,7 @@ void vtxTrampProcess(uint32_t currentTimeUs) trampQueryR(); else { static unsigned int cnt = 0; - if(((cnt++) & 1) == 0) + if (((cnt++) & 1) == 0) trampQueryV(); else trampQueryS(); @@ -391,7 +391,7 @@ void vtxTrampProcess(uint32_t currentTimeUs) done = false; } - if(!done) { + if (!done) { trampStatus = TRAMP_STATUS_CHECK_FREQ_PW; // delay next status query by 300ms @@ -560,8 +560,8 @@ static long trampCmsCommence(displayPort_t *pDisp, const void *self) static void trampCmsInitSettings() { - if(trampBand > 0) trampCmsBand = trampBand; - if(trampChannel > 0) trampCmsChan = trampChannel; + if (trampBand > 0) trampCmsBand = trampBand; + if (trampChannel > 0) trampCmsChan = trampChannel; trampCmsUpdateFreqRef(); trampCmsPitMode = trampPitMode + 1; @@ -725,7 +725,7 @@ bool vtxTrampInit(void) #if defined(VTX_COMMON) vtxCommonRegisterDevice(&vtxTramp); #endif - + return true; } diff --git a/src/main/msp/msp_serial.c b/src/main/msp/msp_serial.c index fd7b9bfa4..7e05410cf 100644 --- a/src/main/msp/msp_serial.c +++ b/src/main/msp/msp_serial.c @@ -83,7 +83,7 @@ static bool mspSerialProcessReceivedData(mspPort_t *mspPort, uint8_t c) mspPort->c_state = (c == 'M') ? MSP_HEADER_M : MSP_IDLE; } else if (mspPort->c_state == MSP_HEADER_M) { mspPort->c_state = MSP_IDLE; - switch(c) { + switch (c) { case '<': // COMMAND mspPort->packetType = MSP_PACKET_COMMAND; mspPort->c_state = MSP_HEADER_ARROW; diff --git a/src/main/osd_slave/osd_slave_init.c b/src/main/osd_slave/osd_slave_init.c index b63566538..176408c6c 100644 --- a/src/main/osd_slave/osd_slave_init.c +++ b/src/main/osd_slave/osd_slave_init.c @@ -209,10 +209,10 @@ void init(void) #endif #ifdef USE_I2C_DEVICE_3 i2cInit(I2CDEV_3); -#endif +#endif #ifdef USE_I2C_DEVICE_4 i2cInit(I2CDEV_4); -#endif +#endif #endif /* USE_I2C */ #endif /* TARGET_BUS_INIT */ diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c index 1a00d6a8e..70b8a3331 100644 --- a/src/main/rx/jetiexbus.c +++ b/src/main/rx/jetiexbus.c @@ -231,7 +231,7 @@ uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen) uint16_t crc16_data = 0; uint8_t data=0; - for (uint8_t mlen = 0; mlen < msgLen; mlen++){ + for (uint8_t mlen = 0; mlen < msgLen; mlen++) { data = pt[mlen] ^ ((uint8_t)(crc16_data) & (uint8_t)(0xFF)); data ^= data << 4; crc16_data = ((((uint16_t)data << 8) | ((crc16_data & 0xFF00) >> 8)) @@ -265,7 +265,7 @@ void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame) uint8_t frameAddr; // Decode header - switch (((uint16_t)exBusFrame[EXBUS_HEADER_SYNC] << 8) | ((uint16_t)exBusFrame[EXBUS_HEADER_REQ])){ + switch (((uint16_t)exBusFrame[EXBUS_HEADER_SYNC] << 8) | ((uint16_t)exBusFrame[EXBUS_HEADER_REQ])) { case EXBUS_CHANNELDATA_DATA_REQUEST: // not yet specified case EXBUS_CHANNELDATA: @@ -322,7 +322,7 @@ static void jetiExBusDataReceive(uint16_t c) // Check if we shall start a frame? if (jetiExBusFramePosition == 0) { - switch(c){ + switch (c) { case EXBUS_START_CHANNEL_FRAME: jetiExBusFrameState = EXBUS_STATE_IN_PROGRESS; jetiExBusFrame = jetiExBusChannelFrame; @@ -345,12 +345,12 @@ static void jetiExBusDataReceive(uint16_t c) // Check the header for the message length if (jetiExBusFramePosition == EXBUS_HEADER_LEN) { - if((jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_CHANNEL_FRAME_SIZE)) { + if ((jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_CHANNEL_FRAME_SIZE)) { jetiExBusFrameLength = jetiExBusFrame[EXBUS_HEADER_MSG_LEN]; return; } - if((jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_REQUEST_FRAME_SIZE)) { + if ((jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_REQUEST_FRAME_SIZE)) { jetiExBusFrameLength = jetiExBusFrame[EXBUS_HEADER_MSG_LEN]; return; } @@ -381,7 +381,7 @@ static uint8_t jetiExBusFrameStatus() if (jetiExBusFrameState != EXBUS_STATE_RECEIVED) return RX_FRAME_PENDING; - if(calcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) { + if (calcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) { jetiExBusDecodeChannelFrame(jetiExBusChannelFrame); jetiExBusFrameState = EXBUS_STATE_ZERO; return RX_FRAME_COMPLETE; @@ -453,18 +453,18 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart) if ((item & 0x0F) == 0) item++; - if(item >= JETI_EX_SENSOR_COUNT) + if (item >= JETI_EX_SENSOR_COUNT) item = 1; exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID uint8_t *p = &exMessage[EXTEL_HEADER_ID]; - while(item <= (itemStart | 0x0F)) { + while (item <= (itemStart | 0x0F)) { *p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType; // Sensor ID (%16) | EX Data Type sensorValue = jetiExSensors[item].value; iCount = exDataTypeLen[jetiExSensors[item].exDataType]; - while(iCount > 1) { + while (iCount > 1) { *p++ = sensorValue; sensorValue = sensorValue >> 8; iCount--; @@ -472,9 +472,9 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart) *p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals; item++; - if(item > JETI_EX_SENSOR_COUNT) + if (item > JETI_EX_SENSOR_COUNT) break; - if(EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1) + if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1) break; } @@ -517,13 +517,13 @@ void handleJetiExBusTelemetry(void) // to prevent timing issues from request to answer - max. 4ms timeDiff = micros() - jetiTimeStampRequest; - if(timeDiff > 3000) { // include reserved time + if (timeDiff > 3000) { // include reserved time jetiExBusRequestState = EXBUS_STATE_ZERO; framesLost++; return; } - if((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (calcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) { + if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (calcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) { jetiExSensors[EX_VOLTAGE].value = getBatteryVoltage(); jetiExSensors[EX_CURRENT].value = getAmperage(); jetiExSensors[EX_ALTITUDE].value = getEstimatedAltitude(); @@ -562,7 +562,7 @@ void sendJetiExBusTelemetry(uint8_t packetID) static uint8_t requestLoop = 0; uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA]; - if (requestLoop == 100){ //every nth request send the name of a value + if (requestLoop == 100) { //every nth request send the name of a value if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT ) sensorDescriptionCounter = 0; diff --git a/src/main/rx/nrf24_v202.c b/src/main/rx/nrf24_v202.c index 9de7865e8..f542b7dbe 100644 --- a/src/main/rx/nrf24_v202.c +++ b/src/main/rx/nrf24_v202.c @@ -153,7 +153,7 @@ static void decode_bind_packet(uint8_t *packet) // Returns whether the data was successfully decoded static rx_spi_received_e decode_packet(uint8_t *packet) { - if(bind_phase != PHASE_BOUND) { + if (bind_phase != PHASE_BOUND) { decode_bind_packet(packet); return RX_SPI_RECEIVED_BIND; } diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c index 5ae38829e..8ca650962 100644 --- a/src/main/rx/rx.c +++ b/src/main/rx/rx.c @@ -457,7 +457,7 @@ static uint16_t getRxfailValue(uint8_t channel) { const rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigs(channel); - switch(channelFailsafeConfig->mode) { + switch (channelFailsafeConfig->mode) { case RX_FAILSAFE_MODE_AUTO: switch (channel) { case ROLL: diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c index a3a176373..0119fca5b 100644 --- a/src/main/rx/spektrum.c +++ b/src/main/rx/spektrum.c @@ -126,11 +126,11 @@ static uint8_t spektrumFrameStatus(void) // This is the first frame status received. spek_fade_last_sec_count = fade; spek_fade_last_sec = current_secs; - } else if(spek_fade_last_sec != current_secs) { + } else if (spek_fade_last_sec != current_secs) { // If the difference is > 1, then we missed several seconds worth of frames and // should just throw out the fade calc (as it's likely a full signal loss). - if((current_secs - spek_fade_last_sec) == 1) { - if(rssi_channel != 0) { + if ((current_secs - spek_fade_last_sec) == 1) { + if (rssi_channel != 0) { if (spekHiRes) spekChannelData[rssi_channel] = 2048 - ((fade - spek_fade_last_sec_count) * 2048 / (SPEKTRUM_MAX_FADE_PER_SEC / SPEKTRUM_FADE_REPORTS_PER_SEC)); else @@ -144,7 +144,7 @@ static uint8_t spektrumFrameStatus(void) for (int b = 3; b < SPEK_FRAME_SIZE; b += 2) { const uint8_t spekChannel = 0x0F & (spekFrame[b - 1] >> spek_chan_shift); if (spekChannel < rxRuntimeConfigPtr->channelCount && spekChannel < SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT) { - if(rssi_channel == 0 || spekChannel != rssi_channel) { + if (rssi_channel == 0 || spekChannel != rssi_channel) { spekChannelData[spekChannel] = ((uint32_t)(spekFrame[b - 1] & spek_chan_mask) << 8) + spekFrame[b]; } } diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c index 10c164d15..d82d8d55e 100644 --- a/src/main/sensors/acceleration.c +++ b/src/main/sensors/acceleration.c @@ -225,7 +225,7 @@ retry: #ifdef ACC_MPU6500_ALIGN dev->accAlign = ACC_MPU6500_ALIGN; #endif - switch(dev->mpuDetectionResult.sensor) { + switch (dev->mpuDetectionResult.sensor) { case MPU_9250_SPI: accHardware = ACC_MPU9250; break; diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c index 9b02c2ff4..e7d774ade 100644 --- a/src/main/sensors/battery.c +++ b/src/main/sensors/battery.c @@ -110,7 +110,7 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs) { UNUSED(currentTimeUs); - switch(batteryConfig()->voltageMeterSource) { + switch (batteryConfig()->voltageMeterSource) { #ifdef USE_ESC_SENSOR case VOLTAGE_METER_ESC: if (feature(FEATURE_ESC_SENSOR)) { @@ -138,7 +138,7 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs) static void updateBatteryBeeperAlert(void) { - switch(getBatteryState()) { + switch (getBatteryState()) { case BATTERY_WARNING: beeper(BEEPER_BAT_LOW); @@ -158,12 +158,12 @@ void batteryUpdatePresence(void) static uint16_t previousVoltage = 0; bool isVoltageStable = ABS(voltageMeter.filtered - previousVoltage) <= VBAT_STABLE_MAX_DELTA; - + bool isVoltageFromBat = (voltageMeter.filtered >= batteryConfig()->vbatnotpresentcellvoltage //above ~0V && voltageMeter.filtered <= batteryConfig()->vbatmaxcellvoltage) //1s max cell voltage check || voltageMeter.filtered > batteryConfig()->vbatnotpresentcellvoltage*2; //USB voltage - 2s or more check - + if ( voltageState == BATTERY_NOT_PRESENT && isVoltageFromBat @@ -208,7 +208,7 @@ void batteryUpdatePresence(void) static void batteryUpdateVoltageState(void) { // alerts are currently used by beeper, osd and other subsystems - switch(voltageState) { + switch (voltageState) { case BATTERY_OK: if (voltageMeter.filtered <= (batteryWarningVoltage - batteryConfig()->vbathysteresis)) { voltageState = BATTERY_WARNING; @@ -270,7 +270,7 @@ void batteryInit(void) batteryCriticalVoltage = 0; voltageMeterReset(&voltageMeter); - switch(batteryConfig()->voltageMeterSource) { + switch (batteryConfig()->voltageMeterSource) { case VOLTAGE_METER_ESC: #ifdef USE_ESC_SENSOR voltageMeterESCInit(); @@ -290,7 +290,7 @@ void batteryInit(void) // consumptionState = BATTERY_OK; currentMeterReset(¤tMeter); - switch(batteryConfig()->currentMeterSource) { + switch (batteryConfig()->currentMeterSource) { case CURRENT_METER_ADC: currentMeterADCInit(); break; @@ -345,7 +345,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs) const int32_t lastUpdateAt = cmp32(currentTimeUs, ibatLastServiced); ibatLastServiced = currentTimeUs; - switch(batteryConfig()->currentMeterSource) { + switch (batteryConfig()->currentMeterSource) { case CURRENT_METER_ADC: currentMeterADCRefresh(lastUpdateAt); currentMeterADCRead(¤tMeter); diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c index 04f0fa89b..d710437f0 100644 --- a/src/main/sensors/compass.c +++ b/src/main/sensors/compass.c @@ -77,7 +77,7 @@ retry: dev->magAlign = ALIGN_DEFAULT; - switch(magHardwareToUse) { + switch (magHardwareToUse) { case MAG_DEFAULT: ; // fallthrough diff --git a/src/main/sensors/esc_sensor.c b/src/main/sensors/esc_sensor.c index 7bf485559..75120fe4e 100644 --- a/src/main/sensors/esc_sensor.c +++ b/src/main/sensors/esc_sensor.c @@ -215,7 +215,7 @@ static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed) static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen) { uint8_t crc = 0; - for(int i=0; igyroAlign = ALIGN_DEFAULT; - switch(gyroHardware) { + switch (gyroHardware) { case GYRO_DEFAULT: #ifdef USE_GYRO_MPU6050 case GYRO_MPU6050: @@ -222,7 +222,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) #else if (mpu6500GyroDetect(dev)) { #endif - switch(dev->mpuDetectionResult.sensor) { + switch (dev->mpuDetectionResult.sensor) { case MPU_9250_SPI: gyroHardware = GYRO_MPU9250; break; diff --git a/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c b/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c index 338186507..813fa8b80 100644 --- a/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c +++ b/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c @@ -80,9 +80,9 @@ uint8_t interruptCounter = 0; void bstProcessInCommand(void); void I2C_EV_IRQHandler() { - if(I2C_GetITStatus(BSTx, I2C_IT_ADDR)) { + if (I2C_GetITStatus(BSTx, I2C_IT_ADDR)) { CRC8 = 0; - if(I2C_GetTransferDirection(BSTx) == I2C_Direction_Receiver) { + if (I2C_GetTransferDirection(BSTx) == I2C_Direction_Receiver) { currentWriteBufferPointer = 0; receiverAddress = true; I2C_SendData(BSTx, (uint8_t) writeData[currentWriteBufferPointer++]); @@ -92,11 +92,11 @@ void I2C_EV_IRQHandler() bufferPointer = 1; } I2C_ClearITPendingBit(BSTx, I2C_IT_ADDR); - } else if(I2C_GetITStatus(BSTx, I2C_IT_RXNE)) { + } else if (I2C_GetITStatus(BSTx, I2C_IT_RXNE)) { uint8_t data = I2C_ReceiveData(BSTx); readData[bufferPointer] = data; - if(bufferPointer > 1) { - if(readData[1]+1 == bufferPointer) { + if (bufferPointer > 1) { + if (readData[1]+1 == bufferPointer) { crc8Cal(0); bstProcessInCommand(); } else { @@ -105,21 +105,21 @@ void I2C_EV_IRQHandler() } bufferPointer++; I2C_ClearITPendingBit(BSTx, I2C_IT_RXNE); - } else if(I2C_GetITStatus(BSTx, I2C_IT_TXIS)) { - if(receiverAddress) { - if(currentWriteBufferPointer > 0) { - if(!cleanflight_data_ready) { + } else if (I2C_GetITStatus(BSTx, I2C_IT_TXIS)) { + if (receiverAddress) { + if (currentWriteBufferPointer > 0) { + if (!cleanflight_data_ready) { I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS); return; } - if(interruptCounter < DELAY_SENDING_BYTE) { + if (interruptCounter < DELAY_SENDING_BYTE) { interruptCounter++; I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS); return; } else { interruptCounter = 0; } - if(writeData[0] == currentWriteBufferPointer) { + if (writeData[0] == currentWriteBufferPointer) { receiverAddress = false; crc8Cal(0); I2C_SendData(BSTx, (uint8_t) CRC8); @@ -129,11 +129,11 @@ void I2C_EV_IRQHandler() I2C_SendData(BSTx, (uint8_t) writeData[currentWriteBufferPointer++]); } } - } else if(bstWriteDataLen) { + } else if (bstWriteDataLen) { I2C_SendData(BSTx, (uint8_t) dataBuffer[dataBufferPointer]); - if(bstWriteDataLen > 1) + if (bstWriteDataLen > 1) dataBufferPointer++; - if(dataBufferPointer == bstWriteDataLen) { + if (dataBufferPointer == bstWriteDataLen) { I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE); dataBufferPointer = 0; bstWriteDataLen = 0; @@ -141,19 +141,19 @@ void I2C_EV_IRQHandler() } else { } I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS); - } else if(I2C_GetITStatus(BSTx, I2C_IT_NACKF)) { - if(receiverAddress) { + } else if (I2C_GetITStatus(BSTx, I2C_IT_NACKF)) { + if (receiverAddress) { receiverAddress = false; I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE); } I2C_ClearITPendingBit(BSTx, I2C_IT_NACKF); - } else if(I2C_GetITStatus(BSTx, I2C_IT_STOPF)) { - if(bstWriteDataLen && dataBufferPointer == bstWriteDataLen) { + } else if (I2C_GetITStatus(BSTx, I2C_IT_STOPF)) { + if (bstWriteDataLen && dataBufferPointer == bstWriteDataLen) { dataBufferPointer = 0; bstWriteDataLen = 0; } I2C_ClearITPendingBit(BSTx, I2C_IT_STOPF); - } else if(I2C_GetITStatus(BSTx, I2C_IT_BERR) + } else if (I2C_GetITStatus(BSTx, I2C_IT_BERR) || I2C_GetITStatus(BSTx, I2C_IT_ARLO) || I2C_GetITStatus(BSTx, I2C_IT_OVR)) { bstTimeoutUserCallback(); @@ -193,7 +193,7 @@ void bstInitPort(I2C_TypeDef *BSTx/*, uint8_t Address*/) GPIO_InitTypeDef GPIO_InitStructure; I2C_InitTypeDef BST_InitStructure; - if(BSTx == I2C1) { + if (BSTx == I2C1) { RCC_AHBPeriphClockCmd(BST1_SCL_CLK_SOURCE | BST1_SDA_CLK_SOURCE, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_I2CCLKConfig(RCC_I2C1CLK_SYSCLK); @@ -241,7 +241,7 @@ void bstInitPort(I2C_TypeDef *BSTx/*, uint8_t Address*/) I2C_Cmd(I2C1, ENABLE); } - if(BSTx == I2C2) { + if (BSTx == I2C2) { RCC_AHBPeriphClockCmd(BST2_SCL_CLK_SOURCE | BST2_SDA_CLK_SOURCE, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_I2CCLKConfig(RCC_I2C2CLK_SYSCLK); @@ -314,7 +314,7 @@ uint16_t bstGetErrorCounter(void) bool bstWriteBusy(void) { - if(bstWriteDataLen) + if (bstWriteDataLen) return true; else return false; @@ -322,14 +322,14 @@ bool bstWriteBusy(void) bool bstMasterWrite(uint8_t* data) { - if(bstWriteDataLen==0) { + if (bstWriteDataLen==0) { CRC8 = 0; dataBufferPointer = 0; dataBuffer[0] = *data; dataBuffer[1] = *(data+1); bstWriteDataLen = dataBuffer[1] + 2; - for(uint8_t i=2; iIDR&BST1_SCL_PIN; else scl_set = BST2_SCL_GPIO->IDR&BST2_SCL_PIN; - if(I2C_GetFlagStatus(BSTx, I2C_FLAG_BUSY)==RESET && scl_set) { + if (I2C_GetFlagStatus(BSTx, I2C_FLAG_BUSY)==RESET && scl_set) { I2C_TransferHandling(BSTx, dataBuffer[dataBufferPointer], dataBuffer[dataBufferPointer+1]+1, I2C_AutoEnd_Mode, I2C_Generate_Start_Write); I2C_ITConfig(BSTx, I2C_IT_TXI, ENABLE); dataBufferPointer = 1; bstMasterWriteTimeout = micros(); } - } else if(currentTime>bstMasterWriteTimeout+BST_SHORT_TIMEOUT) { + } else if (currentTime>bstMasterWriteTimeout+BST_SHORT_TIMEOUT) { bstTimeoutUserCallback(); } } diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c index 9c93858bd..c7d2114a3 100644 --- a/src/main/target/COLIBRI_RACE/i2c_bst.c +++ b/src/main/target/COLIBRI_RACE/i2c_bst.c @@ -269,7 +269,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest) { uint32_t i, tmp, junk; - switch(bstRequest) { + switch (bstRequest) { case BST_API_VERSION: bstWrite8(BST_PROTOCOL_VERSION); @@ -455,7 +455,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand) uint16_t tmp; bool ret = BST_PASSED; - switch(bstWriteCommand) { + switch (bstWriteCommand) { case BST_SELECT_SETTING: if (!ARMING_FLAG(ARMED)) { changePidProfile(bstRead8()); @@ -620,7 +620,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand) } bstWrite8(ret); - if(ret == BST_FAILED) + if (ret == BST_FAILED) return false; return true; @@ -651,18 +651,18 @@ extern bool cleanflight_data_ready; void bstProcessInCommand(void) { readBufferPointer = 2; - if(bstCurrentAddress() == I2C_ADDR_CLEANFLIGHT_FC) { - if(bstReadCRC() == CRC8 && bstRead8()==BST_USB_COMMANDS) { + if (bstCurrentAddress() == I2C_ADDR_CLEANFLIGHT_FC) { + if (bstReadCRC() == CRC8 && bstRead8()==BST_USB_COMMANDS) { uint8_t i; writeBufferPointer = 1; cleanflight_data_ready = false; - for(i = 0; i < BST_BUFFER_SIZE; i++) { + for (i = 0; i < BST_BUFFER_SIZE; i++) { writeData[i] = 0; } switch (bstRead8()) { case BST_USB_DEVICE_INFO_REQUEST: bstRead8(); - if(bstSlaveUSBCommandFeedback(/*bstRead8()*/)) + if (bstSlaveUSBCommandFeedback(/*bstRead8()*/)) coreProReady = true; break; case BST_READ_COMMANDS: @@ -679,8 +679,8 @@ void bstProcessInCommand(void) } cleanflight_data_ready = true; } - } else if(bstCurrentAddress() == 0x00) { - if(bstReadCRC() == CRC8 && bstRead8()==BST_GENERAL_HEARTBEAT) { + } else if (bstCurrentAddress() == 0x00) { + if (bstReadCRC() == CRC8 && bstRead8()==BST_GENERAL_HEARTBEAT) { resetBstTimer = micros(); needResetCheck = true; } @@ -689,8 +689,8 @@ void bstProcessInCommand(void) static void resetBstChecker(timeUs_t currentTimeUs) { - if(needResetCheck) { - if(currentTimeUs >= (resetBstTimer + BST_RESET_TIME)) + if (needResetCheck) { + if (currentTimeUs >= (resetBstTimer + BST_RESET_TIME)) { bstTimeoutUserCallback(); needResetCheck = false; @@ -709,23 +709,23 @@ static uint8_t sendCounter = 0; void taskBstMasterProcess(timeUs_t currentTimeUs) { - if(coreProReady) { - if(currentTimeUs >= next02hzUpdateAt_1 && !bstWriteBusy()) { + if (coreProReady) { + if (currentTimeUs >= next02hzUpdateAt_1 && !bstWriteBusy()) { writeFCModeToBST(); next02hzUpdateAt_1 = currentTimeUs + UPDATE_AT_02HZ; } - if(currentTimeUs >= next20hzUpdateAt_1 && !bstWriteBusy()) { - if(sendCounter == 0) + if (currentTimeUs >= next20hzUpdateAt_1 && !bstWriteBusy()) { + if (sendCounter == 0) writeRCChannelToBST(); - else if(sendCounter == 1) + else if (sendCounter == 1) writeRollPitchYawToBST(); sendCounter++; - if(sendCounter > 1) + if (sendCounter > 1) sendCounter = 0; next20hzUpdateAt_1 = currentTimeUs + UPDATE_AT_20HZ; } #ifdef GPS - if(sensors(SENSOR_GPS) && !bstWriteBusy()) + if (sensors(SENSOR_GPS) && !bstWriteBusy()) writeGpsPositionPrameToBST(); #endif @@ -779,7 +779,7 @@ static uint8_t numOfSat = 0; #ifdef GPS bool writeGpsPositionPrameToBST(void) { - if((lat != gpsSol.llh.lat) || (lon != gpsSol.llh.lon) || (alt != gpsSol.llh.alt) || (numOfSat != gpsSol.numSat)) { + if ((lat != gpsSol.llh.lat) || (lon != gpsSol.llh.lon) || (alt != gpsSol.llh.alt) || (numOfSat != gpsSol.numSat)) { lat = gpsSol.llh.lat; lon = gpsSol.llh.lon; alt = gpsSol.llh.alt; @@ -826,7 +826,7 @@ bool writeRCChannelToBST(void) uint8_t i = 0; bstMasterStartBuffer(PUBLIC_ADDRESS); bstMasterWrite8(RC_CHANNEL_FRAME_ID); - for(i = 0; i < (USABLE_TIMER_CHANNEL_COUNT-1); i++) { + for (i = 0; i < (USABLE_TIMER_CHANNEL_COUNT-1); i++) { bstMasterWrite16(rcData[i]); } diff --git a/src/main/target/CRAZYFLIE2/serialrx.c b/src/main/target/CRAZYFLIE2/serialrx.c index e698eaf27..3d9b6b074 100644 --- a/src/main/target/CRAZYFLIE2/serialrx.c +++ b/src/main/target/CRAZYFLIE2/serialrx.c @@ -68,10 +68,10 @@ static bool rcFrameComplete = false; static void routeIncommingPacket(syslinkPacket_t* slp) { // Only support packets of type SYSLINK_RADIO_RAW - if(slp->type == SYSLINK_RADIO_RAW) { + if (slp->type == SYSLINK_RADIO_RAW) { crtpPacket_t *crtpPacket = (crtpPacket_t*)(slp->data); - switch(crtpPacket->header.port) { + switch (crtpPacket->header.port) { case CRTP_PORT_SETPOINT: { crtpCommanderRPYT_t *crtpRYPTPacket = @@ -95,7 +95,7 @@ static void routeIncommingPacket(syslinkPacket_t* slp) case CRTP_PORT_SETPOINT_GENERIC: // First byte of the packet is the type // Only support the CPPM Emulation type - if(crtpPacket->data[0] == cppmEmuType) { + if (crtpPacket->data[0] == cppmEmuType) { crtpCommanderCPPMEmuPacket_t *crtpCppmPacket = (crtpCommanderCPPMEmuPacket_t*)&crtpPacket->data[1]; @@ -124,7 +124,7 @@ static void routeIncommingPacket(syslinkPacket_t* slp) static void dataReceive(uint16_t c) { counter++; - switch(rxState) { + switch (rxState) { case waitForFirstStart: rxState = (c == SYSLINK_START_BYTE1) ? waitForSecondStart : waitForFirstStart; break; @@ -205,7 +205,7 @@ bool targetCustomSerialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxR { rxRuntimeConfigPtr = rxRuntimeConfig; - if(rxConfig->serialrx_provider != SERIALRX_TARGET_CUSTOM) + if (rxConfig->serialrx_provider != SERIALRX_TARGET_CUSTOM) { return false; } diff --git a/src/main/target/FF_PIKOBLX/config.c b/src/main/target/FF_PIKOBLX/config.c index 4d595e3a8..a7a94f5e0 100644 --- a/src/main/target/FF_PIKOBLX/config.c +++ b/src/main/target/FF_PIKOBLX/config.c @@ -63,7 +63,7 @@ void targetConfiguration(void) featureSet(FEATURE_TELEMETRY); #endif parseRcChannels("TAER1234", rxConfigMutable()); - + pidProfilesMutable(0)->pid[PID_ROLL].P = 80; pidProfilesMutable(0)->pid[PID_ROLL].I = 37; pidProfilesMutable(0)->pid[PID_ROLL].D = 35; @@ -72,7 +72,7 @@ void targetConfiguration(void) pidProfilesMutable(0)->pid[PID_PITCH].D = 35; pidProfilesMutable(0)->pid[PID_YAW].P = 180; pidProfilesMutable(0)->pid[PID_YAW].D = 45; - + controlRateProfilesMutable(0)->rcRate8 = 100; controlRateProfilesMutable(0)->rcYawRate8 = 100; controlRateProfilesMutable(0)->rcExpo8 = 15; diff --git a/src/main/target/FRSKYF3/target.h b/src/main/target/FRSKYF3/target.h index 9e73b2566..0e9c4cda6 100644 --- a/src/main/target/FRSKYF3/target.h +++ b/src/main/target/FRSKYF3/target.h @@ -17,7 +17,7 @@ #pragma once -#define TARGET_BOARD_IDENTIFIER "FRF3" +#define TARGET_BOARD_IDENTIFIER "FRF3" #define TARGET_CONFIG #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE @@ -111,7 +111,7 @@ #define SDCARD_SPI_CS_PIN SPI1_NSS_PIN #define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 -#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 +#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 #define USE_ESC_SENSOR diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h index 5785dde8d..9c06cbc3b 100644 --- a/src/main/target/FURYF3/target.h +++ b/src/main/target/FURYF3/target.h @@ -91,7 +91,7 @@ #define USE_FLASH_M25P16 #define M25P16_CS_PIN PB12 #define M25P16_SPI_INSTANCE SPI2 - + #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT #define DEFAULT_FEATURES (FEATURE_OSD) @@ -118,9 +118,9 @@ // Performance logging for SD card operations: // #define AFATFS_USE_INTROSPECTIVE_LOGGING - + #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT - + #define BARO #define USE_BARO_MS5611 @@ -143,7 +143,7 @@ #define SOFTSERIAL1_RX_PIN PB0 #define SOFTSERIAL1_TX_PIN PB1 - + #define SONAR #define SONAR_ECHO_PIN PB1 #define SONAR_TRIGGER_PIN PB0 diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h index 69d47398c..d2e584d42 100644 --- a/src/main/target/FURYF4/target.h +++ b/src/main/target/FURYF4/target.h @@ -78,7 +78,7 @@ #define MAX7456_SPI_CS_PIN PB12 #define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD*2) #define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST) - + #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT #define DEFAULT_FEATURES FEATURE_OSD @@ -111,7 +111,7 @@ #define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4 #define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1 #define SDCARD_DMA_CHANNEL DMA_Channel_0 - + #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT #endif diff --git a/src/main/target/LUMBAF3/target.c b/src/main/target/LUMBAF3/target.c index ebb643ed9..010110bfd 100644 --- a/src/main/target/LUMBAF3/target.c +++ b/src/main/target/LUMBAF3/target.c @@ -29,7 +29,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { DEF_TIM(TIM2, CH2, PA1, TIM_USE_PPM | TIM_USE_TRANSPONDER, TIMER_INPUT_ENABLED), // PPM IN DEF_TIM(TIM3, CH3, PB0, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Rx DEF_TIM(TIM3, CH2, PB5, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Tx - + DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S1 DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S2 DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S3 diff --git a/src/main/target/LUMBAF3/target.h b/src/main/target/LUMBAF3/target.h index 04c665077..e7dba2d8f 100644 --- a/src/main/target/LUMBAF3/target.h +++ b/src/main/target/LUMBAF3/target.h @@ -70,7 +70,7 @@ #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC #define USE_ADC #define CURRENT_METER_ADC_PIN PB1 -#define VBAT_ADC_PIN PA0 +#define VBAT_ADC_PIN PA0 #define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c index 29b7048fa..dc198f4c6 100755 --- a/src/main/target/NAZE/config.c +++ b/src/main/target/NAZE/config.c @@ -110,6 +110,6 @@ void targetValidateConfiguration(void) { if (hardwareRevision < NAZE32_REV5 && accelerometerConfig()->acc_hardware == ACC_ADXL345) { accelerometerConfigMutable()->acc_hardware = ACC_NONE; - } + } } #endif diff --git a/src/main/target/SITL/target.c b/src/main/target/SITL/target.c index cab463fec..c301955d2 100644 --- a/src/main/target/SITL/target.c +++ b/src/main/target/SITL/target.c @@ -79,7 +79,7 @@ void updateState(const fdm_packet* pkt) { clock_gettime(CLOCK_MONOTONIC, &now_ts); const uint64_t realtime_now = micros64_real(); - if(realtime_now > last_realtime + 500*1e3) { // 500ms timeout + if (realtime_now > last_realtime + 500*1e3) { // 500ms timeout last_timestamp = pkt->timestamp; last_realtime = realtime_now; sendMotorUpdate(); @@ -87,7 +87,7 @@ void updateState(const fdm_packet* pkt) { } const double deltaSim = pkt->timestamp - last_timestamp; // in seconds - if(deltaSim < 0) { // don't use old packet + if (deltaSim < 0) { // don't use old packet return; } @@ -141,7 +141,7 @@ void updateState(const fdm_packet* pkt) { #endif - if(deltaSim < 0.02 && deltaSim > 0) { // simulator should run faster than 50Hz + if (deltaSim < 0.02 && deltaSim > 0) { // simulator should run faster than 50Hz // simRate = simRate * 0.5 + (1e6 * deltaSim / (realtime_now - last_realtime)) * 0.5; struct timespec out_ts; timeval_sub(&out_ts, &now_ts, &last_ts); @@ -168,7 +168,7 @@ static void* udpThread(void* data) { while (workerRunning) { n = udpRecv(&stateLink, &fdmPkt, sizeof(fdm_packet), 100); - if(n == sizeof(fdm_packet)) { + if (n == sizeof(fdm_packet)) { // printf("[data]new fdm %d\n", n); updateState(&fdmPkt); } @@ -215,7 +215,7 @@ void systemInit(void) { } ret = pthread_create(&tcpWorker, NULL, tcpThread, NULL); - if(ret != 0) { + if (ret != 0) { printf("Create tcpWorker error!\n"); exit(1); } @@ -227,7 +227,7 @@ void systemInit(void) { printf("start UDP server...%d\n", ret); ret = pthread_create(&udpWorker, NULL, udpThread, NULL); - if(ret != 0) { + if (ret != 0) { printf("Create udpWorker error!\n"); exit(1); } @@ -266,7 +266,7 @@ void timerStart(void) { void failureMode(failureMode_e mode) { printf("[failureMode]!!! %d\n", mode); - while(1); + while (1); } void indicateFailure(failureMode_e mode, int repeatCount) @@ -440,7 +440,7 @@ void pwmCompleteMotorUpdate(uint8_t motorCount) { pwmPkt.motor_speed[2] = motorsPwm[3] / outScale; // get one "fdm_packet" can only send one "servo_packet"!! - if(pthread_mutex_trylock(&updateLock) != 0) return; + if (pthread_mutex_trylock(&updateLock) != 0) return; udpSend(&pwmLink, &pwmPkt, sizeof(servo_packet)); // printf("[pwm]%u:%u,%u,%u,%u\n", idlePulse, motorsPwm[0], motorsPwm[1], motorsPwm[2], motorsPwm[3]); } @@ -483,7 +483,7 @@ void FLASH_Unlock(void) { printf("[FLASH_Unlock]size = %ld, %ld\n", lSize, (long)(&__config_end - &__config_start)); for (unsigned i = 0; i < (uintptr_t)(&__config_end - &__config_start); i++) { int c = fgetc(eepromFd); - if(c == EOF) break; + if (c == EOF) break; eeprom[i] = (uint8_t)c; } } else { diff --git a/src/main/target/SITL/udplink.c b/src/main/target/SITL/udplink.c index 8080b7686..2a444aad8 100644 --- a/src/main/target/SITL/udplink.c +++ b/src/main/target/SITL/udplink.c @@ -15,7 +15,7 @@ int udpInit(udpLink_t* link, const char* addr, int port, bool isServer) { int one = 1; - if((link->fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) { + if ((link->fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) { return -2; } @@ -28,13 +28,13 @@ int udpInit(udpLink_t* link, const char* addr, int port, bool isServer) { link->si.sin_port = htons(port); link->port = port; - if(addr == NULL) { + if (addr == NULL) { link->si.sin_addr.s_addr = htonl(INADDR_ANY); }else{ link->si.sin_addr.s_addr = inet_addr(addr); } - if(isServer) { + if (isServer) { if (bind(link->fd, (const struct sockaddr *)&link->si, sizeof(link->si)) == -1) { return -1; } diff --git a/src/main/target/stm32f1xx_hal_conf.h b/src/main/target/stm32f1xx_hal_conf.h index deb836888..d44641067 100644 --- a/src/main/target/stm32f1xx_hal_conf.h +++ b/src/main/target/stm32f1xx_hal_conf.h @@ -83,7 +83,7 @@ /** * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. * This value is used by the RCC HAL module to compute the system frequency - * (when HSE is used as system clock source, directly or through the PLL). + * (when HSE is used as system clock source, directly or through the PLL). */ #if !defined (HSE_VALUE) #if defined(USE_STM3210C_EVAL) @@ -114,22 +114,22 @@ #define LSE_VALUE ((uint32_t)32768) /*!< Value of the External oscillator in Hz*/ #endif /* LSE_VALUE */ - + #if !defined (LSE_STARTUP_TIMEOUT) #define LSE_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for LSE start up, in ms */ #endif /* HSE_STARTUP_TIMEOUT */ - + /* Tip: To avoid modifying this file each time you need to use different HSE, === you can define the HSE value in your toolchain compiler preprocessor. */ /* ########################### System Configuration ######################### */ /** * @brief This is the HAL system configuration section - */ -#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */ -#define TICK_INT_PRIORITY ((uint32_t)0x000F) /*!< tick interrupt priority */ -#define USE_RTOS 0 + */ +#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */ +#define TICK_INT_PRIORITY ((uint32_t)0x000F) /*!< tick interrupt priority */ +#define USE_RTOS 0 #define PREFETCH_ENABLE 1 /* ########################## Assert Selection ############################## */ @@ -152,7 +152,7 @@ #define MAC_ADDR4 0 #define MAC_ADDR5 0 -/* Definition of the Ethernet driver buffers size and count */ +/* Definition of the Ethernet driver buffers size and count */ #define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ #define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ #define ETH_RXBUFNB ((uint32_t)8) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ @@ -189,7 +189,7 @@ #define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020) /*!< Auto-Negotiation process completed */ #define PHY_LINKED_STATUS ((uint16_t)0x0004) /*!< Valid link established */ #define PHY_JABBER_DETECTION ((uint16_t)0x0002) /*!< Jabber condition detected */ - + /* Section 4: Extended PHY Registers */ #define PHY_SR ((uint16_t)0x10) /*!< PHY status register Offset */ @@ -220,15 +220,15 @@ #ifdef HAL_GPIO_MODULE_ENABLED #include "stm32f1xx_hal_gpio.h" #endif /* HAL_GPIO_MODULE_ENABLED */ - + #ifdef HAL_DMA_MODULE_ENABLED #include "stm32f1xx_hal_dma.h" #endif /* HAL_DMA_MODULE_ENABLED */ - + #ifdef HAL_ETH_MODULE_ENABLED #include "stm32f1xx_hal_eth.h" -#endif /* HAL_ETH_MODULE_ENABLED */ - +#endif /* HAL_ETH_MODULE_ENABLED */ + #ifdef HAL_CAN_MODULE_ENABLED #include "stm32f1xx_hal_can.h" #endif /* HAL_CAN_MODULE_ENABLED */ @@ -291,11 +291,11 @@ #ifdef HAL_SD_MODULE_ENABLED #include "stm32f1xx_hal_sd.h" -#endif /* HAL_SD_MODULE_ENABLED */ +#endif /* HAL_SD_MODULE_ENABLED */ #ifdef HAL_NAND_MODULE_ENABLED #include "stm32f1xx_hal_nand.h" -#endif /* HAL_NAND_MODULE_ENABLED */ +#endif /* HAL_NAND_MODULE_ENABLED */ #ifdef HAL_SPI_MODULE_ENABLED #include "stm32f1xx_hal_spi.h" @@ -332,8 +332,8 @@ #ifdef HAL_HCD_MODULE_ENABLED #include "stm32f1xx_hal_hcd.h" -#endif /* HAL_HCD_MODULE_ENABLED */ - +#endif /* HAL_HCD_MODULE_ENABLED */ + /* Exported macro ------------------------------------------------------------*/ #ifdef USE_FULL_ASSERT diff --git a/src/main/target/stm32f3xx_hal_conf.h b/src/main/target/stm32f3xx_hal_conf.h index be3c623d6..a7172724d 100644 --- a/src/main/target/stm32f3xx_hal_conf.h +++ b/src/main/target/stm32f3xx_hal_conf.h @@ -86,7 +86,7 @@ /** * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. * This value is used by the RCC HAL module to compute the system frequency - * (when HSE is used as system clock source, directly or through the PLL). + * (when HSE is used as system clock source, directly or through the PLL). */ #if !defined (HSE_VALUE) #define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */ @@ -115,13 +115,13 @@ */ #if !defined (HSI_STARTUP_TIMEOUT) #define HSI_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for HSI start up */ -#endif /* HSI_STARTUP_TIMEOUT */ +#endif /* HSI_STARTUP_TIMEOUT */ /** * @brief Internal Low Speed oscillator (LSI) value. */ #if !defined (LSI_VALUE) - #define LSI_VALUE ((uint32_t)40000) + #define LSI_VALUE ((uint32_t)40000) #endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz The real value may vary depending on the variations in voltage and temperature. */ @@ -130,7 +130,7 @@ */ #if !defined (LSE_VALUE) #define LSE_VALUE ((uint32_t)32768) /*!< Value of the External Low Speed oscillator in Hz */ -#endif /* LSE_VALUE */ +#endif /* LSE_VALUE */ /** * @brief Time out for LSE start up value in ms. @@ -156,7 +156,7 @@ /* ########################### System Configuration ######################### */ /** * @brief This is the HAL system configuration section - */ + */ #define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */ #define TICK_INT_PRIORITY ((uint32_t)(1<<__NVIC_PRIO_BITS) - 1) /*!< tick interrupt priority (lowest by default) */ #define USE_RTOS 0 @@ -187,7 +187,7 @@ #ifdef HAL_DMA_MODULE_ENABLED #include "stm32f3xx_hal_dma.h" #endif /* HAL_DMA_MODULE_ENABLED */ - + #ifdef HAL_CORTEX_MODULE_ENABLED #include "stm32f3xx_hal_cortex.h" #endif /* HAL_CORTEX_MODULE_ENABLED */ @@ -235,7 +235,7 @@ #ifdef HAL_PCCARD_MODULE_ENABLED #include "stm32f3xx_hal_pccard.h" #endif /* HAL_PCCARD_MODULE_ENABLED */ - + #ifdef HAL_HRTIM_MODULE_ENABLED #include "stm32f3xx_hal_hrtim.h" #endif /* HAL_HRTIM_MODULE_ENABLED */ @@ -323,8 +323,8 @@ void assert_failed(uint8_t* file, uint32_t line); #else #define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - +#endif /* USE_FULL_ASSERT */ + #ifdef __cplusplus } #endif diff --git a/src/main/target/stm32f4xx_hal_conf.h b/src/main/target/stm32f4xx_hal_conf.h index acabfce95..17bb3238a 100644 --- a/src/main/target/stm32f4xx_hal_conf.h +++ b/src/main/target/stm32f4xx_hal_conf.h @@ -47,7 +47,7 @@ /** * @brief This is the list of modules to be used in the HAL driver */ -#define HAL_MODULE_ENABLED +#define HAL_MODULE_ENABLED #define HAL_ADC_MODULE_ENABLED //#define HAL_CAN_MODULE_ENABLED //#define HAL_CRC_MODULE_ENABLED @@ -97,7 +97,7 @@ /** * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. * This value is used by the RCC HAL module to compute the system frequency - * (when HSE is used as system clock source, directly or through the PLL). + * (when HSE is used as system clock source, directly or through the PLL). */ #if !defined (HSE_VALUE) #define HSE_VALUE ((uint32_t)8000000U) /*!< Value of the External oscillator in Hz */ @@ -150,7 +150,7 @@ /* ########################### System Configuration ######################### */ /** * @brief This is the HAL system configuration section - */ + */ #define VDD_VALUE ((uint32_t)3300U) /*!< Value of VDD in mv */ #define TICK_INT_PRIORITY ((uint32_t)0x0FU) /*!< tick interrupt priority */ #define USE_RTOS 0U @@ -177,7 +177,7 @@ #define MAC_ADDR4 0U #define MAC_ADDR5 0U -/* Definition of the Ethernet driver buffers size and count */ +/* Definition of the Ethernet driver buffers size and count */ #define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ #define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ #define ETH_RXBUFNB ((uint32_t)4U) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ @@ -214,7 +214,7 @@ #define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020U) /*!< Auto-Negotiation process completed */ #define PHY_LINKED_STATUS ((uint16_t)0x0004U) /*!< Valid link established */ #define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */ - + /* Section 4: Extended PHY Registers */ #define PHY_SR ((uint16_t)0x0010U) /*!< PHY status register Offset */ @@ -256,7 +256,7 @@ #ifdef HAL_DMA_MODULE_ENABLED #include "stm32f4xx_hal_dma.h" #endif /* HAL_DMA_MODULE_ENABLED */ - + #ifdef HAL_CORTEX_MODULE_ENABLED #include "stm32f4xx_hal_cortex.h" #endif /* HAL_CORTEX_MODULE_ENABLED */ @@ -312,7 +312,7 @@ #ifdef HAL_PCCARD_MODULE_ENABLED #include "stm32f4xx_hal_pccard.h" #endif /* HAL_PCCARD_MODULE_ENABLED */ - + #ifdef HAL_SDRAM_MODULE_ENABLED #include "stm32f4xx_hal_sdram.h" #endif /* HAL_SDRAM_MODULE_ENABLED */ @@ -392,7 +392,7 @@ #ifdef HAL_HCD_MODULE_ENABLED #include "stm32f4xx_hal_hcd.h" #endif /* HAL_HCD_MODULE_ENABLED */ - + #ifdef HAL_DSI_MODULE_ENABLED #include "stm32f4xx_hal_dsi.h" #endif /* HAL_DSI_MODULE_ENABLED */ diff --git a/src/main/target/system_stm32f30x.c b/src/main/target/system_stm32f30x.c index e7f691817..e948db3ca 100644 --- a/src/main/target/system_stm32f30x.c +++ b/src/main/target/system_stm32f30x.c @@ -304,7 +304,7 @@ void SetSysClock(void) { HSEStatus = RCC->CR & RCC_CR_HSERDY; StartUpCounter++; - } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + } while ((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { @@ -343,7 +343,7 @@ void SetSysClock(void) RCC->CR |= RCC_CR_PLLON; /* Wait till PLL is ready */ - while((RCC->CR & RCC_CR_PLLRDY) == 0) + while ((RCC->CR & RCC_CR_PLLRDY) == 0) { } diff --git a/src/main/target/system_stm32f4xx.c b/src/main/target/system_stm32f4xx.c index 8dcc984d3..52c4447bc 100644 --- a/src/main/target/system_stm32f4xx.c +++ b/src/main/target/system_stm32f4xx.c @@ -642,7 +642,7 @@ void SetSysClock(void) { HSEStatus = RCC->CR & RCC_CR_HSERDY; StartUpCounter++; - } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + } while ((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { @@ -700,18 +700,18 @@ void SetSysClock(void) RCC->CR |= RCC_CR_PLLON; /* Wait till the main PLL is ready */ - while((RCC->CR & RCC_CR_PLLRDY) == 0) + while ((RCC->CR & RCC_CR_PLLRDY) == 0) { } #if defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F446xx) || defined(STM32F469_479xx) /* Enable the Over-drive to extend the clock frequency to 180 Mhz */ PWR->CR |= PWR_CR_ODEN; - while((PWR->CSR & PWR_CSR_ODRDY) == 0) + while ((PWR->CSR & PWR_CSR_ODRDY) == 0) { } PWR->CR |= PWR_CR_ODSWEN; - while((PWR->CSR & PWR_CSR_ODSWRDY) == 0) + while ((PWR->CSR & PWR_CSR_ODSWRDY) == 0) { } #endif /* STM32F427_437x || STM32F429_439xx || STM32F446xx || STM32F469_479xx */ @@ -1018,7 +1018,7 @@ void SystemInit_ExtMemCtl(void) /* Clock enable command */ FMC_Bank5_6->SDCMR = 0x00000011; tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - while((tmpreg != 0) & (timeout-- > 0)) + while ((tmpreg != 0) & (timeout-- > 0)) { tmpreg = FMC_Bank5_6->SDSR & 0x00000020; } @@ -1029,7 +1029,7 @@ void SystemInit_ExtMemCtl(void) /* PALL command */ FMC_Bank5_6->SDCMR = 0x00000012; timeout = 0xFFFF; - while((tmpreg != 0) & (timeout-- > 0)) + while ((tmpreg != 0) & (timeout-- > 0)) { tmpreg = FMC_Bank5_6->SDSR & 0x00000020; } @@ -1037,7 +1037,7 @@ void SystemInit_ExtMemCtl(void) /* Auto refresh command */ FMC_Bank5_6->SDCMR = 0x00000073; timeout = 0xFFFF; - while((tmpreg != 0) & (timeout-- > 0)) + while ((tmpreg != 0) & (timeout-- > 0)) { tmpreg = FMC_Bank5_6->SDSR & 0x00000020; } @@ -1045,7 +1045,7 @@ void SystemInit_ExtMemCtl(void) /* MRD register program */ FMC_Bank5_6->SDCMR = 0x00046014; timeout = 0xFFFF; - while((tmpreg != 0) & (timeout-- > 0)) + while ((tmpreg != 0) & (timeout-- > 0)) { tmpreg = FMC_Bank5_6->SDSR & 0x00000020; } diff --git a/src/main/target/system_stm32f7xx.c b/src/main/target/system_stm32f7xx.c index 74991e2d1..e0b094bd4 100644 --- a/src/main/target/system_stm32f7xx.c +++ b/src/main/target/system_stm32f7xx.c @@ -167,16 +167,16 @@ RCC_OscInitStruct.PLL.PLLQ = PLL_Q; ret = HAL_RCC_OscConfig(&RCC_OscInitStruct); - if(ret != HAL_OK) + if (ret != HAL_OK) { - while(1) { ; } + while (1) { ; } } /* Activate the OverDrive to reach the 216 MHz Frequency */ ret = HAL_PWREx_EnableOverDrive(); - if(ret != HAL_OK) + if (ret != HAL_OK) { - while(1) { ; } + while (1) { ; } } /* Select PLLSAI output as USB clock source */ PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CLK48; @@ -184,9 +184,9 @@ PeriphClkInitStruct.PLLSAI.PLLSAIN = PLL_SAIN; PeriphClkInitStruct.PLLSAI.PLLSAIQ = PLL_SAIQ; PeriphClkInitStruct.PLLSAI.PLLSAIP = PLL_SAIP; - if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) { - while(1) {}; + while (1) {}; } /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2 clocks dividers */ @@ -197,9 +197,9 @@ RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; ret = HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_7); - if(ret != HAL_OK) + if (ret != HAL_OK) { - while(1) { ; } + while (1) { ; } } PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2 @@ -223,7 +223,7 @@ ret = HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct); if (ret != HAL_OK) { - while(1) { ; } + while (1) { ; } } // Activating the timerprescalers while the APBx prescalers are 1/2/4 will connect the TIMxCLK to HCLK which has been configured to 216MHz @@ -288,9 +288,9 @@ void SystemInit(void) /* Configure the system clock to 216 MHz */ SystemClock_Config(); - if(SystemCoreClock != 216000000) + if (SystemCoreClock != 216000000) { - while(1) + while (1) { // There is a mismatch between the configured clock and the expected clock in portable.h } diff --git a/src/main/telemetry/hott.c b/src/main/telemetry/hott.c index 4f5d893bf..1aa65b646 100644 --- a/src/main/telemetry/hott.c +++ b/src/main/telemetry/hott.c @@ -231,10 +231,10 @@ static inline void updateAlarmBatteryStatus(HOTT_EAM_MSG_t *hottEAMMessage) { batteryState_e batteryState; - if (shouldTriggerBatteryAlarmNow()){ + if (shouldTriggerBatteryAlarmNow()) { lastHottAlarmSoundTime = millis(); batteryState = getBatteryState(); - if (batteryState == BATTERY_WARNING || batteryState == BATTERY_CRITICAL){ + if (batteryState == BATTERY_WARNING || batteryState == BATTERY_CRITICAL) { hottEAMMessage->warning_beeps = 0x10; hottEAMMessage->alarm_invers1 = HOTT_EAM_ALARM1_FLAG_BATTERY_1; } @@ -282,7 +282,7 @@ static inline void hottEAMUpdateClimbrate(HOTT_EAM_MSG_t *hottEAMMessage) int32_t vario = getEstimatedVario(); hottEAMMessage->climbrate_L = (30000 + vario) & 0x00FF; hottEAMMessage->climbrate_H = (30000 + vario) >> 8; - hottEAMMessage->climbrate3s = 120 + (vario / 100); + hottEAMMessage->climbrate3s = 120 + (vario / 100); } void hottPrepareEAMResponse(HOTT_EAM_MSG_t *hottEAMMessage) @@ -401,7 +401,7 @@ void configureHoTTTelemetryPort(void) static void hottSendResponse(uint8_t *buffer, int length) { - if(hottIsSending) { + if (hottIsSending) { return; } @@ -514,7 +514,7 @@ static void hottSendTelemetryData(void) { hottReconfigurePort(); --hottMsgRemainingBytesToSendCount; - if(hottMsgRemainingBytesToSendCount == 0) { + if (hottMsgRemainingBytesToSendCount == 0) { hottSerialWrite(hottMsgCrc++); return; } @@ -572,7 +572,7 @@ void handleHoTTTelemetry(timeUs_t currentTimeUs) return; if (hottIsSending) { - if(currentTimeUs - serialTimer < HOTT_TX_DELAY_US) { + if (currentTimeUs - serialTimer < HOTT_TX_DELAY_US) { return; } } diff --git a/src/main/telemetry/ibus_shared.c b/src/main/telemetry/ibus_shared.c index a60d00f00..ce6df3973 100644 --- a/src/main/telemetry/ibus_shared.c +++ b/src/main/telemetry/ibus_shared.c @@ -122,7 +122,7 @@ static ibusAddress_t getAddress(const uint8_t *ibusPacket) static uint8_t dispatchMeasurementReply(ibusAddress_t address) { int value; - + switch (sensorAddressTypeLookup[address - ibusBaseAddress]) { case IBUS_SENSOR_TYPE_EXTERNAL_VOLTAGE: value = getBatteryVoltage() * 10; diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c index 6b0ae90e5..b84085477 100755 --- a/src/main/telemetry/mavlink.c +++ b/src/main/telemetry/mavlink.c @@ -436,7 +436,7 @@ void mavlinkSendHUDAndHeartbeat(void) mavModes |= MAV_MODE_FLAG_SAFETY_ARMED; uint8_t mavSystemType; - switch(mixerConfig()->mixerMode) + switch (mixerConfig()->mixerMode) { case MIXER_TRI: mavSystemType = MAV_TYPE_TRICOPTER; diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index 3f06e0039..53a959011 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -242,7 +242,7 @@ static void smartPortDataReceive(uint16_t c) rxBuffer[smartPortRxBytes++] = c; - if(smartPortRxBytes == SMARTPORT_FRAME_SIZE) { + if (smartPortRxBytes == SMARTPORT_FRAME_SIZE) { if (c == (0xFF - checksum)) { smartPortFrameReceived = true; } @@ -280,7 +280,7 @@ static void smartPortSendPackageEx(uint8_t frameId, uint8_t* data) { uint16_t crc = 0; smartPortSendByte(frameId, &crc); - for(unsigned i = 0; i < SMARTPORT_PAYLOAD_SIZE; i++) { + for (unsigned i = 0; i < SMARTPORT_PAYLOAD_SIZE; i++) { smartPortSendByte(*data++, &crc); } smartPortSendByte(0xFF - (uint8_t)crc, NULL); @@ -559,11 +559,11 @@ void handleSmartPortTelemetry(void) smartPortDataReceive(c); } - if(smartPortFrameReceived) { + if (smartPortFrameReceived) { smartPortFrameReceived = false; // do not check the physical ID here again // unless we start receiving other sensors' packets - if(smartPortRxBuffer.frameId == FSSP_MSPC_FRAME) { + if (smartPortRxBuffer.frameId == FSSP_MSPC_FRAME) { // Pass only the payload: skip sensorId & frameId handleSmartPortMspFrame(&smartPortRxBuffer); @@ -577,7 +577,7 @@ void handleSmartPortTelemetry(void) return; } - if(smartPortMspReplyPending) { + if (smartPortMspReplyPending) { smartPortMspReplyPending = smartPortSendMspReply(); smartPortHasRequest = 0; return; @@ -596,7 +596,7 @@ void handleSmartPortTelemetry(void) static uint8_t t1Cnt = 0; static uint8_t t2Cnt = 0; - switch(id) { + switch (id) { #ifdef GPS case FSSP_DATAID_SPEED : if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) { @@ -742,7 +742,7 @@ void handleSmartPortTelemetry(void) } else if (feature(FEATURE_GPS)) { smartPortSendPackage(id, 0); smartPortHasRequest = 0; - } else if (telemetryConfig()->pidValuesAsTelemetry){ + } else if (telemetryConfig()->pidValuesAsTelemetry) { switch (t2Cnt) { case 0: tmp2 = currentPidProfile->pid[PID_ROLL].P; diff --git a/src/main/vcp/usb_istr.c b/src/main/vcp/usb_istr.c index beb3e2beb..74a1a56c5 100644 --- a/src/main/vcp/usb_istr.c +++ b/src/main/vcp/usb_istr.c @@ -193,7 +193,7 @@ void USB_Istr(void) _SetCNTR(wCNTR); /*poll for RESET flag in ISTR*/ - while((_GetISTR()&ISTR_RESET) == 0); + while ((_GetISTR()&ISTR_RESET) == 0); /* clear RESET flag in ISTR */ _SetISTR((uint16_t)CLR_RESET); diff --git a/src/main/vcp_hal/usbd_cdc_interface.c b/src/main/vcp_hal/usbd_cdc_interface.c index 4a4cf497d..c91e9da83 100644 --- a/src/main/vcp_hal/usbd_cdc_interface.c +++ b/src/main/vcp_hal/usbd_cdc_interface.c @@ -123,7 +123,7 @@ static int8_t CDC_Itf_Init(void) /*##-4- Start the TIM Base generation in interrupt mode ####################*/ /* Start Channel1 */ - if(HAL_TIM_Base_Start_IT(&TimHandle) != HAL_OK) + if (HAL_TIM_Base_Start_IT(&TimHandle) != HAL_OK) { /* Starting Error */ Error_Handler(); @@ -222,14 +222,14 @@ static int8_t CDC_Itf_Control (uint8_t cmd, uint8_t* pbuf, uint16_t length) */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { - if(htim->Instance != TIMusb) return; + if (htim->Instance != TIMusb) return; uint32_t buffptr; uint32_t buffsize; - if(UserTxBufPtrOut != UserTxBufPtrIn) + if (UserTxBufPtrOut != UserTxBufPtrIn) { - if(UserTxBufPtrOut > UserTxBufPtrIn) /* Roll-back */ + if (UserTxBufPtrOut > UserTxBufPtrIn) /* Roll-back */ { buffsize = APP_RX_DATA_SIZE - UserTxBufPtrOut; } @@ -242,7 +242,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) USBD_CDC_SetTxBuffer(&USBD_Device, (uint8_t*)&UserTxBuffer[buffptr], buffsize); - if(USBD_CDC_TransmitPacket(&USBD_Device) == USBD_OK) + if (USBD_CDC_TransmitPacket(&USBD_Device) == USBD_OK) { UserTxBufPtrOut += buffsize; if (UserTxBufPtrOut == APP_TX_DATA_SIZE) @@ -288,7 +288,7 @@ static void TIM_Config(void) TimHandle.Init.Prescaler = (SystemCoreClock / 2 / (1000000)) - 1; TimHandle.Init.ClockDivision = 0; TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; - if(HAL_TIM_Base_Init(&TimHandle) != HAL_OK) + if (HAL_TIM_Base_Init(&TimHandle) != HAL_OK) { /* Initialization Error */ Error_Handler(); @@ -318,7 +318,7 @@ static void Error_Handler(void) uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len) { uint32_t count = 0; - if( (rxBuffPtr != NULL)) + if ( (rxBuffPtr != NULL)) { while ((rxAvailable > 0) && count < len) { @@ -326,7 +326,7 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len) rxBuffPtr++; rxAvailable--; count++; - if(rxAvailable < 1) + if (rxAvailable < 1) USBD_CDC_ReceivePacket(&USBD_Device); } } @@ -361,7 +361,7 @@ uint32_t CDC_Send_FreeBytes(void) uint32_t CDC_Send_DATA(const uint8_t *ptrBuffer, uint32_t sendLength) { USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)USBD_Device.pClassData; - while(hcdc->TxState != 0); + while (hcdc->TxState != 0); for (uint32_t i = 0; i < sendLength; i++) { diff --git a/src/main/vcp_hal/usbd_conf.c b/src/main/vcp_hal/usbd_conf.c index 4d12dd3ae..2cbd0452f 100644 --- a/src/main/vcp_hal/usbd_conf.c +++ b/src/main/vcp_hal/usbd_conf.c @@ -84,7 +84,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd) { GPIO_InitTypeDef GPIO_InitStruct; - if(hpcd->Instance == USB_OTG_FS) + if (hpcd->Instance == USB_OTG_FS) { /* Configure USB FS GPIOs */ __HAL_RCC_GPIOA_CLK_ENABLE(); @@ -97,7 +97,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd) GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - if(hpcd->Init.vbus_sensing_enable == 1) + if (hpcd->Init.vbus_sensing_enable == 1) { /* Configure VBUS Pin */ GPIO_InitStruct.Pin = GPIO_PIN_9; @@ -122,7 +122,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd) /* Enable USBFS Interrupt */ HAL_NVIC_EnableIRQ(OTG_FS_IRQn); } - else if(hpcd->Instance == USB_OTG_HS) + else if (hpcd->Instance == USB_OTG_HS) { #ifdef USE_USB_HS_IN_FS @@ -136,7 +136,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd) GPIO_InitStruct.Alternate = GPIO_AF12_OTG_HS_FS; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - if(hpcd->Init.vbus_sensing_enable == 1) + if (hpcd->Init.vbus_sensing_enable == 1) { /* Configure VBUS Pin */ GPIO_InitStruct.Pin = GPIO_PIN_13 ; @@ -216,13 +216,13 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd) */ void HAL_PCD_MspDeInit(PCD_HandleTypeDef *hpcd) { - if(hpcd->Instance == USB_OTG_FS) + if (hpcd->Instance == USB_OTG_FS) { /* Disable USB FS Clock */ __HAL_RCC_USB_OTG_FS_CLK_DISABLE(); __HAL_RCC_SYSCFG_CLK_DISABLE(); } - else if(hpcd->Instance == USB_OTG_HS) + else if (hpcd->Instance == USB_OTG_HS) { /* Disable USB HS Clocks */ __HAL_RCC_USB_OTG_HS_CLK_DISABLE(); @@ -286,7 +286,7 @@ void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd) USBD_SpeedTypeDef speed = USBD_SPEED_FULL; /* Set USB Current Speed */ - switch(hpcd->Init.speed) + switch (hpcd->Init.speed) { case PCD_SPEED_HIGH: speed = USBD_SPEED_HIGH; @@ -559,7 +559,7 @@ uint8_t USBD_LL_IsStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { PCD_HandleTypeDef *hpcd = pdev->pData; - if((ep_addr & 0x80) == 0x80) + if ((ep_addr & 0x80) == 0x80) { return hpcd->IN_ep[ep_addr & 0x7F].is_stall; } diff --git a/src/main/vcp_hal/usbd_desc.c b/src/main/vcp_hal/usbd_desc.c index 7da957d5e..fa0324783 100644 --- a/src/main/vcp_hal/usbd_desc.c +++ b/src/main/vcp_hal/usbd_desc.c @@ -174,7 +174,7 @@ uint8_t *USBD_VCP_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) */ uint8_t *USBD_VCP_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) { - if(speed == USBD_SPEED_HIGH) + if (speed == USBD_SPEED_HIGH) { USBD_GetString((uint8_t *)USBD_PRODUCT_HS_STRING, USBD_StrDesc, length); } @@ -223,7 +223,7 @@ uint8_t *USBD_VCP_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) */ uint8_t *USBD_VCP_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) { - if(speed == USBD_SPEED_HIGH) + if (speed == USBD_SPEED_HIGH) { USBD_GetString((uint8_t *)USBD_CONFIGURATION_HS_STRING, USBD_StrDesc, length); } @@ -242,7 +242,7 @@ uint8_t *USBD_VCP_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) */ uint8_t *USBD_VCP_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) { - if(speed == USBD_SPEED_HIGH) + if (speed == USBD_SPEED_HIGH) { USBD_GetString((uint8_t *)USBD_INTERFACE_HS_STRING, USBD_StrDesc, length); } @@ -286,9 +286,9 @@ static void IntToUnicode (uint32_t value , uint8_t *pbuf , uint8_t len) { uint8_t idx = 0; - for( idx = 0; idx < len; idx ++) + for ( idx = 0; idx < len; idx ++) { - if( ((value >> 28)) < 0xA ) + if ( ((value >> 28)) < 0xA ) { pbuf[ 2* idx] = (value >> 28) + '0'; } diff --git a/src/main/vcpf4/stm32f4xx_it.c b/src/main/vcpf4/stm32f4xx_it.c index d2392e642..b7f01a04e 100644 --- a/src/main/vcpf4/stm32f4xx_it.c +++ b/src/main/vcpf4/stm32f4xx_it.c @@ -59,7 +59,7 @@ void PendSV_Handler(void) #ifdef USE_USB_OTG_FS void OTG_FS_WKUP_IRQHandler(void) { - if(USB_OTG_dev.cfg.low_power) + if (USB_OTG_dev.cfg.low_power) { *(uint32_t *)(0xE000ED10) &= 0xFFFFFFF9 ; SystemInit(); @@ -77,7 +77,7 @@ void OTG_FS_WKUP_IRQHandler(void) #ifdef USE_USB_OTG_HS void OTG_HS_WKUP_IRQHandler(void) { - if(USB_OTG_dev.cfg.low_power) + if (USB_OTG_dev.cfg.low_power) { *(uint32_t *)(0xE000ED10) &= 0xFFFFFFF9 ; SystemInit(); diff --git a/src/main/vcpf4/usbd_desc.c b/src/main/vcpf4/usbd_desc.c index 73ea774b1..cdba125ba 100644 --- a/src/main/vcpf4/usbd_desc.c +++ b/src/main/vcpf4/usbd_desc.c @@ -225,7 +225,7 @@ uint8_t * USBD_USR_ProductStrDescriptor( uint8_t speed , uint16_t *length) { - if(speed == 0) + if (speed == 0) USBD_GetString ((uint8_t*)USBD_PRODUCT_HS_STRING, USBD_StrDesc, length); else USBD_GetString ((uint8_t*)USBD_PRODUCT_FS_STRING, USBD_StrDesc, length); @@ -256,7 +256,7 @@ uint8_t * USBD_USR_ManufacturerStrDescriptor( uint8_t speed , uint16_t *length) */ uint8_t * USBD_USR_SerialStrDescriptor( uint8_t speed , uint16_t *length) { - if(speed == USB_OTG_SPEED_HIGH) + if (speed == USB_OTG_SPEED_HIGH) USBD_GetString ((uint8_t*)USBD_SERIALNUMBER_HS_STRING, USBD_StrDesc, length); else USBD_GetString ((uint8_t*)USBD_SERIALNUMBER_FS_STRING, USBD_StrDesc, length); @@ -273,7 +273,7 @@ uint8_t * USBD_USR_SerialStrDescriptor( uint8_t speed , uint16_t *length) */ uint8_t * USBD_USR_ConfigStrDescriptor( uint8_t speed , uint16_t *length) { - if(speed == USB_OTG_SPEED_HIGH) + if (speed == USB_OTG_SPEED_HIGH) USBD_GetString ((uint8_t*)USBD_CONFIGURATION_HS_STRING, USBD_StrDesc, length); else USBD_GetString ((uint8_t*)USBD_CONFIGURATION_FS_STRING, USBD_StrDesc, length); @@ -291,7 +291,7 @@ uint8_t * USBD_USR_ConfigStrDescriptor( uint8_t speed , uint16_t *length) */ uint8_t * USBD_USR_InterfaceStrDescriptor( uint8_t speed , uint16_t *length) { - if(speed == 0) + if (speed == 0) USBD_GetString ((uint8_t*)USBD_INTERFACE_HS_STRING, USBD_StrDesc, length); else USBD_GetString ((uint8_t*)USBD_INTERFACE_FS_STRING, USBD_StrDesc, length);