Commit a7532c60 authored by Dominic Clifton's avatar Dominic Clifton
Browse files

Merge pull request #942 from nzmichaelh/tidy

various: improve readability by using enums and ARRAYLEN()
parents 87b1d21d 0aceee00
...@@ -21,6 +21,8 @@ ...@@ -21,6 +21,8 @@
#include "platform.h" #include "platform.h"
#include "common/utils.h"
#include "system.h" #include "system.h"
#include "gpio.h" #include "gpio.h"
...@@ -56,7 +58,7 @@ void ledInit(void) ...@@ -56,7 +58,7 @@ void ledInit(void)
#endif #endif
}; };
uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]); uint8_t gpio_count = ARRAYLEN(gpio_setup);
#ifdef LED0 #ifdef LED0
RCC_APB2PeriphClockCmd(LED0_PERIPHERAL, ENABLE); RCC_APB2PeriphClockCmd(LED0_PERIPHERAL, ENABLE);
......
...@@ -21,6 +21,8 @@ ...@@ -21,6 +21,8 @@
#include "platform.h" #include "platform.h"
#include "common/utils.h"
#include "gpio.h" #include "gpio.h"
#include "light_led.h" #include "light_led.h"
...@@ -47,7 +49,7 @@ void ledInit(void) ...@@ -47,7 +49,7 @@ void ledInit(void)
#endif #endif
}; };
uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]); uint8_t gpio_count = ARRAYLEN(gpio_setup);
#ifdef LED0 #ifdef LED0
RCC_AHBPeriphClockCmd(LED0_PERIPHERAL, ENABLE); RCC_AHBPeriphClockCmd(LED0_PERIPHERAL, ENABLE);
......
...@@ -756,26 +756,26 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat ...@@ -756,26 +756,26 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
} }
} }
void pidSetController(int type) void pidSetController(pidControllerType_e type)
{ {
switch (type) { switch (type) {
case 0: case PID_CONTROLLER_MULTI_WII:
default: default:
pid_controller = pidMultiWii; pid_controller = pidMultiWii;
break; break;
case 1: case PID_CONTROLLER_REWRITE:
pid_controller = pidRewrite; pid_controller = pidRewrite;
break; break;
case 2: case PID_CONTROLLER_LUX_FLOAT:
pid_controller = pidLuxFloat; pid_controller = pidLuxFloat;
break; break;
case 3: case PID_CONTROLLER_MULTI_WII_23:
pid_controller = pidMultiWii23; pid_controller = pidMultiWii23;
break; break;
case 4: case PID_CONTROLLER_MULTI_WII_HYBRID:
pid_controller = pidMultiWiiHybrid; pid_controller = pidMultiWiiHybrid;
break; break;
case 5: case PID_CONTROLLER_HARAKIRI:
pid_controller = pidHarakiri; pid_controller = pidHarakiri;
} }
} }
......
...@@ -38,6 +38,15 @@ typedef enum { ...@@ -38,6 +38,15 @@ typedef enum {
PID_ITEM_COUNT PID_ITEM_COUNT
} pidIndex_e; } pidIndex_e;
typedef enum {
PID_CONTROLLER_MULTI_WII,
PID_CONTROLLER_REWRITE,
PID_CONTROLLER_LUX_FLOAT,
PID_CONTROLLER_MULTI_WII_23,
PID_CONTROLLER_MULTI_WII_HYBRID,
PID_CONTROLLER_HARAKIRI,
} pidControllerType_e;
#define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2) #define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
typedef struct pidProfile_s { typedef struct pidProfile_s {
...@@ -63,7 +72,7 @@ typedef struct pidProfile_s { ...@@ -63,7 +72,7 @@ typedef struct pidProfile_s {
extern int16_t axisPID[XYZ_AXIS_COUNT]; extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3]; extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
void pidSetController(int type); void pidSetController(pidControllerType_e type);
void pidResetErrorAngle(void); void pidResetErrorAngle(void);
void pidResetErrorGyro(void); void pidResetErrorGyro(void);
......
...@@ -28,6 +28,7 @@ ...@@ -28,6 +28,7 @@
#include "common/maths.h" #include "common/maths.h"
#include "common/axis.h" #include "common/axis.h"
#include "common/utils.h"
#include "drivers/system.h" #include "drivers/system.h"
#include "drivers/serial.h" #include "drivers/serial.h"
...@@ -169,14 +170,14 @@ static const ubloxSbas_t ubloxSbas[] = { ...@@ -169,14 +170,14 @@ static const ubloxSbas_t ubloxSbas[] = {
}; };
enum { typedef enum {
GPS_UNKNOWN, GPS_UNKNOWN,
GPS_INITIALIZING, GPS_INITIALIZING,
GPS_CHANGE_BAUD, GPS_CHANGE_BAUD,
GPS_CONFIGURE, GPS_CONFIGURE,
GPS_RECEIVING_DATA, GPS_RECEIVING_DATA,
GPS_LOST_COMMUNICATION, GPS_LOST_COMMUNICATION,
}; } gpsState_e;
gpsData_t gpsData; gpsData_t gpsData;
...@@ -185,7 +186,7 @@ static void shiftPacketLog(void) ...@@ -185,7 +186,7 @@ static void shiftPacketLog(void)
{ {
uint32_t i; uint32_t i;
for (i = sizeof(gpsPacketLog) - 1; i > 0 ; i--) { for (i = ARRAYLEN(gpsPacketLog) - 1; i > 0 ; i--) {
gpsPacketLog[i] = gpsPacketLog[i-1]; gpsPacketLog[i] = gpsPacketLog[i-1];
} }
} }
...@@ -194,7 +195,7 @@ static void gpsNewData(uint16_t c); ...@@ -194,7 +195,7 @@ static void gpsNewData(uint16_t c);
static bool gpsNewFrameNMEA(char c); static bool gpsNewFrameNMEA(char c);
static bool gpsNewFrameUBLOX(uint8_t data); static bool gpsNewFrameUBLOX(uint8_t data);
static void gpsSetState(uint8_t state) static void gpsSetState(gpsState_e state)
{ {
gpsData.state = state; gpsData.state = state;
gpsData.state_position = 0; gpsData.state_position = 0;
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment