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Apply clang-format #104

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Dec 19, 2023
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Apply clang-format #104

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8 changes: 4 additions & 4 deletions tfrog-motordriver/communication.c
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Original file line number Diff line number Diff line change
Expand Up @@ -424,7 +424,7 @@ int32_t data_send485(int16_t* cnt, int16_t* pwm, char* en, int16_t* analog, uint
buf_len = add_crc_485(buf, buf_len);
send_buf_pos485 += buf_len;

//printf("send485\n\r");
// printf("send485\n\r");
if (rs485_timeout_wait(saved_param.id485 * 4 + 4, 32))
{
flush485();
Expand Down Expand Up @@ -511,7 +511,7 @@ int32_t int_send485to(const char from, const char to, const char param, const ch
buf_len = add_crc_485(buf, buf_len);
send_buf_pos485 += buf_len;

//printf("send485\n\r");
// printf("send485\n\r");
if (rs485_timeout_wait(saved_param.id485 * 4 + 4, 32))
{
flush485();
Expand Down Expand Up @@ -749,7 +749,7 @@ static inline int32_t data_analyze_(
{
state = STATE_IDLE;
receive_period = 1;
//printf( "not for me\n\r" );
// printf( "not for me\n\r" );
}
else if (verify_crc_485(line_full, len + 3))
{
Expand Down Expand Up @@ -786,7 +786,7 @@ static inline int32_t data_analyze_(

command_analyze(rawdata, data_len);
driver_state.ifmode = fromto;
//printf("for me\n\r");
// printf("for me\n\r");
}
else if (from == -1)
{
Expand Down
4 changes: 2 additions & 2 deletions tfrog-motordriver/communication.h
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Original file line number Diff line number Diff line change
Expand Up @@ -117,8 +117,8 @@ typedef enum
} YPSpur_loco_interrupt;

#define COMMUNICATION_START_BYTE 0x09
#define COMMUNICATION_INT_BYTE 0x07
#define COMMUNICATION_END_BYTE 0x0a
#define COMMUNICATION_INT_BYTE 0x07
#define COMMUNICATION_END_BYTE 0x0a

#define COMMUNICATION_ID_BROADCAST 0x3f

Expand Down
10 changes: 5 additions & 5 deletions tfrog-motordriver/controlPWM.c
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Original file line number Diff line number Diff line change
Expand Up @@ -430,11 +430,11 @@ void FIQ_PWMPeriod()
(hall[i] & 0x07) == 0 ||
halldiff == 3 || halldiff >= 5)
{
//if( (hall[i] & 0x07) == ( HALL_U | HALL_V | HALL_W ) ) printf( "ENC error: 111\n\r" );
//if( (hall[i] & 0x07) == 0 ) printf( "ENC error: 000\n\r" );
//if( halldiff == 3 || halldiff >= 5 ) printf( "ENC error: %x->%x\n\r", _hall[i], hall[i] );
// ホール素子信号が全相1、全相0のとき
// ホース素子信号が2ビット以上変化したときはエラー
// if( (hall[i] & 0x07) == ( HALL_U | HALL_V | HALL_W ) ) printf( "ENC error: 111\n\r" );
// if( (hall[i] & 0x07) == 0 ) printf( "ENC error: 000\n\r" );
// if( halldiff == 3 || halldiff >= 5 ) printf( "ENC error: %x->%x\n\r", _hall[i], hall[i] );
// ホール素子信号が全相1、全相0のとき
// ホース素子信号が2ビット以上変化したときはエラー

// Skip next one error to avoid counting another edge of this error.
if (driver_state.error.hall[i] < 12)
Expand Down
65 changes: 32 additions & 33 deletions tfrog-motordriver/crc16.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,38 +22,37 @@

static const uint16_t crc16_tb[256] =
{
0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241,
0xc601, 0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440,
0xcc01, 0x0cc0, 0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40,
0x0a00, 0xcac1, 0xcb81, 0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841,
0xd801, 0x18c0, 0x1980, 0xd941, 0x1b00, 0xdbc1, 0xda81, 0x1a40,
0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01, 0x1dc0, 0x1c80, 0xdc41,
0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0, 0x1680, 0xd641,
0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081, 0x1040,
0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240,
0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441,
0x3c00, 0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41,
0xfa01, 0x3ac0, 0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840,
0x2800, 0xe8c1, 0xe981, 0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41,
0xee01, 0x2ec0, 0x2f80, 0xef41, 0x2d00, 0xedc1, 0xec81, 0x2c40,
0xe401, 0x24c0, 0x2580, 0xe541, 0x2700, 0xe7c1, 0xe681, 0x2640,
0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0, 0x2080, 0xe041,
0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281, 0x6240,
0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441,
0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41,
0xaa01, 0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840,
0x7800, 0xb8c1, 0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41,
0xbe01, 0x7ec0, 0x7f80, 0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40,
0xb401, 0x74c0, 0x7580, 0xb541, 0x7700, 0xb7c1, 0xb681, 0x7640,
0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101, 0x71c0, 0x7080, 0xb041,
0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0, 0x5280, 0x9241,
0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481, 0x5440,
0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40,
0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841,
0x8801, 0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40,
0x4e00, 0x8ec1, 0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41,
0x4400, 0x84c1, 0x8581, 0x4540, 0x8701, 0x47c0, 0x4680, 0x8641,
0x8201, 0x42c0, 0x4380, 0x8341, 0x4100, 0x81c1, 0x8081, 0x4040
};
0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241,
0xc601, 0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440,
0xcc01, 0x0cc0, 0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40,
0x0a00, 0xcac1, 0xcb81, 0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841,
0xd801, 0x18c0, 0x1980, 0xd941, 0x1b00, 0xdbc1, 0xda81, 0x1a40,
0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01, 0x1dc0, 0x1c80, 0xdc41,
0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0, 0x1680, 0xd641,
0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081, 0x1040,
0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240,
0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441,
0x3c00, 0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41,
0xfa01, 0x3ac0, 0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840,
0x2800, 0xe8c1, 0xe981, 0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41,
0xee01, 0x2ec0, 0x2f80, 0xef41, 0x2d00, 0xedc1, 0xec81, 0x2c40,
0xe401, 0x24c0, 0x2580, 0xe541, 0x2700, 0xe7c1, 0xe681, 0x2640,
0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0, 0x2080, 0xe041,
0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281, 0x6240,
0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441,
0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41,
0xaa01, 0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840,
0x7800, 0xb8c1, 0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41,
0xbe01, 0x7ec0, 0x7f80, 0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40,
0xb401, 0x74c0, 0x7580, 0xb541, 0x7700, 0xb7c1, 0xb681, 0x7640,
0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101, 0x71c0, 0x7080, 0xb041,
0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0, 0x5280, 0x9241,
0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481, 0x5440,
0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40,
0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841,
0x8801, 0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40,
0x4e00, 0x8ec1, 0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41,
0x4400, 0x84c1, 0x8581, 0x4540, 0x8701, 0x47c0, 0x4680, 0x8641,
0x8201, 0x42c0, 0x4380, 0x8341, 0x4100, 0x81c1, 0x8081, 0x4040};

#endif
46 changes: 23 additions & 23 deletions tfrog-motordriver/fixpawd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,30 +16,30 @@
*/

/**
@file fixp.c
@brief Fixed point value operation
@file fixp.c
@brief Fixed point value operation
*/

#include <stdint.h>

#include "fixpawd.h"

/**
@brief Multiple fixed point values (fast var)
@param a [in] Input value A
@param b [in] Input value B
@return A*B
@brief Multiple fixed point values (fast var)
@param a [in] Input value A
@param b [in] Input value B
@return A*B
*/
fixp4 fp4mulf(fixp4 a, fixp4 b)
{
return (fixp4)(((int64_t)a * b) / FP4_ONE);
}

/**
@brief Multiple fixed point values
@param a [in] Input value A
@param b [in] Input value B
@return A*B
@brief Multiple fixed point values
@param a [in] Input value A
@param b [in] Input value B
@return A*B
*/
fixp4 fp4mul(fixp4 a, fixp4 b)
{
Expand All @@ -56,40 +56,40 @@ fixp4 fp4mul(fixp4 a, fixp4 b)
}

/**
@brief Divide Fixed point value
@param a [in] Input value A
@param b [in] Input value B
@return A/B
@brief Divide Fixed point value
@param a [in] Input value A
@param b [in] Input value B
@return A/B
*/
fixp4 fp4div(fixp4 a, fixp4 b)
{
return (fixp4)(((int64_t)a * FP4_ONE) / b);
}

/**
@brief Convert double value to fixed point value
@param a [in] Input value A
@return A expressed in fixed point
@brief Convert double value to fixed point value
@param a [in] Input value A
@return A expressed in fixed point
*/
fixp4 double2fp4(double a)
{
return (fixp4)(a * FP4_MUL + 0.5);
}

/**
@brief Convert int32_t value to fixed point value
@param a [in] Input value A
@return A expressed in fixed point
@brief Convert int32_t value to fixed point value
@param a [in] Input value A
@return A expressed in fixed point
*/
fixp4 int2fp4(int32_t a)
{
return (fixp4)(a * FP4_ONE);
}

/**
@brief Convert fixed point value to double value
@param a [in] Input value A
@return A expressed in double
@brief Convert fixed point value to double value
@param a [in] Input value A
@return A expressed in double
*/
double fp42double(fixp4 a)
{
Expand Down
12 changes: 6 additions & 6 deletions tfrog-motordriver/fixpawd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@
*/

/**
@file fixp.h
@brief Fixed point value operation
@file fixp.h
@brief Fixed point value operation
*/

#ifndef __FIX_POINT_AWD__
Expand All @@ -34,12 +34,12 @@ typedef int32_t fixp4;
#endif

#define FP4_POINTBIT2 (FP4_POINTBIT * 2)
#define FP4_DIV (1.0 / (double)(1 << FP4_POINTBIT))
#define FP4_MUL ((double)(1 << FP4_POINTBIT))
#define FP4_ONE (1 << FP4_POINTBIT)
#define FP4_DIV (1.0 / (double)(1 << FP4_POINTBIT))
#define FP4_MUL ((double)(1 << FP4_POINTBIT))
#define FP4_ONE (1 << FP4_POINTBIT)

#define DOUBLE2FP4(a) (fixp4)(a * FP4_MUL + 0.5)
#define INT2FP4(a) (fixp4)(a << FP4_POINTBIT)
#define INT2FP4(a) (fixp4)(a << FP4_POINTBIT)

fixp4 fp4mul(fixp4 a, fixp4 b);
fixp4 fp4mulf(fixp4 a, fixp4 b);
Expand Down
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