From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Thu, 31 Dec 2015 03:46:56 +0000 (-0800)
Subject: More cleanup
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=a1160e820c4a8edc72f7db6952fbb0c2bb8bbaec;p=bbctrl-firmware

More cleanup
---

diff --git a/src/util.c b/src/util.c
index b583c83..4836f84 100644
--- a/src/util.c
+++ b/src/util.c
@@ -46,54 +46,55 @@
 float vector[AXES];    // statically allocated global for vector utilities
 
 
-uint8_t vector_equal(const float a[], const float b[])
-{
-    if ((fp_EQ(a[AXIS_X], b[AXIS_X])) &&
-        (fp_EQ(a[AXIS_Y], b[AXIS_Y])) &&
-        (fp_EQ(a[AXIS_Z], b[AXIS_Z])) &&
-        (fp_EQ(a[AXIS_A], b[AXIS_A])) &&
-        (fp_EQ(a[AXIS_B], b[AXIS_B])) &&
-        (fp_EQ(a[AXIS_C], b[AXIS_C]))) {
-        return true;
-    }
-    return false;
+uint8_t vector_equal(const float a[], const float b[]) {
+  if ((fp_EQ(a[AXIS_X], b[AXIS_X])) &&
+      (fp_EQ(a[AXIS_Y], b[AXIS_Y])) &&
+      (fp_EQ(a[AXIS_Z], b[AXIS_Z])) &&
+      (fp_EQ(a[AXIS_A], b[AXIS_A])) &&
+      (fp_EQ(a[AXIS_B], b[AXIS_B])) &&
+      (fp_EQ(a[AXIS_C], b[AXIS_C])))
+    return true;
+
+
+  return false;
 }
 
-float get_axis_vector_length(const float a[], const float b[])
-{
-    return sqrt(square(a[AXIS_X] - b[AXIS_X] +
-                 square(a[AXIS_Y] - b[AXIS_Y]) +
-                 square(a[AXIS_Z] - b[AXIS_Z]) +
-                 square(a[AXIS_A] - b[AXIS_A]) +
-                 square(a[AXIS_B] - b[AXIS_B]) +
-                 square(a[AXIS_C] - b[AXIS_C])));
+
+float get_axis_vector_length(const float a[], const float b[]) {
+  return sqrt(square(a[AXIS_X] - b[AXIS_X] +
+                     square(a[AXIS_Y] - b[AXIS_Y]) +
+                     square(a[AXIS_Z] - b[AXIS_Z]) +
+                     square(a[AXIS_A] - b[AXIS_A]) +
+                     square(a[AXIS_B] - b[AXIS_B]) +
+                     square(a[AXIS_C] - b[AXIS_C])));
 }
 
-float *set_vector(float x, float y, float z, float a, float b, float c)
-{
-    vector[AXIS_X] = x;
-    vector[AXIS_Y] = y;
-    vector[AXIS_Z] = z;
-    vector[AXIS_A] = a;
-    vector[AXIS_B] = b;
-    vector[AXIS_C] = c;
-    return vector;
+
+float *set_vector(float x, float y, float z, float a, float b, float c) {
+  vector[AXIS_X] = x;
+  vector[AXIS_Y] = y;
+  vector[AXIS_Z] = z;
+  vector[AXIS_A] = a;
+  vector[AXIS_B] = b;
+  vector[AXIS_C] = c;
+  return vector;
 }
 
-float *set_vector_by_axis(float value, uint8_t axis)
-{
-    clear_vector(vector);
-    switch (axis) {
-        case (AXIS_X): vector[AXIS_X] = value; break;
-        case (AXIS_Y): vector[AXIS_Y] = value; break;
-        case (AXIS_Z): vector[AXIS_Z] = value; break;
-        case (AXIS_A): vector[AXIS_A] = value; break;
-        case (AXIS_B): vector[AXIS_B] = value; break;
-        case (AXIS_C): vector[AXIS_C] = value;
-    }
-    return vector;
+
+float *set_vector_by_axis(float value, uint8_t axis) {
+  clear_vector(vector);
+  switch (axis) {
+  case (AXIS_X): vector[AXIS_X] = value; break;
+  case (AXIS_Y): vector[AXIS_Y] = value; break;
+  case (AXIS_Z): vector[AXIS_Z] = value; break;
+  case (AXIS_A): vector[AXIS_A] = value; break;
+  case (AXIS_B): vector[AXIS_B] = value; break;
+  case (AXIS_C): vector[AXIS_C] = value;
+  }
+  return vector;
 }
 
+
 /**** Math and other general purpose functions ****/
 
 /* Slightly faster (*) multi-value min and max functions
@@ -110,39 +111,37 @@ float *set_vector_by_axis(float value, uint8_t axis)
  *    #define max3(a,b,c) (max(max(a,b),c))
  *    #define max4(a,b,c,d) (max(max(a,b),max(c,d)))
  */
-
-float min3(float x1, float x2, float x3)
-{
-    float min = x1;
-    if (x2 < min) { min = x2;}
-    if (x3 < min) { return x3;}
-    return min;
+float min3(float x1, float x2, float x3) {
+  float min = x1;
+  if (x2 < min) min = x2;
+  if (x3 < min) return x3;
+  return min;
 }
 
-float min4(float x1, float x2, float x3, float x4)
-{
-    float min = x1;
-    if (x2 < min) { min = x2;}
-    if (x3 < min) { min = x3;}
-    if (x4 < min) { return x4;}
-    return min;
+
+float min4(float x1, float x2, float x3, float x4) {
+  float min = x1;
+  if (x2 < min) min = x2;
+  if (x3 < min) min = x3;
+  if (x4 < min) return x4;
+  return min;
 }
 
-float max3(float x1, float x2, float x3)
-{
-    float max = x1;
-    if (x2 > max) { max = x2;}
-    if (x3 > max) { return x3;}
-    return max;
+
+float max3(float x1, float x2, float x3) {
+  float max = x1;
+  if (x2 > max) max = x2;
+  if (x3 > max) return x3;
+  return max;
 }
 
-float max4(float x1, float x2, float x3, float x4)
-{
-    float max = x1;
-    if (x2 > max) { max = x2;}
-    if (x3 > max) { max = x3;}
-    if (x4 > max) { return x4;}
-    return max;
+
+float max4(float x1, float x2, float x3, float x4) {
+  float max = x1;
+  if (x2 > max) max = x2;
+  if (x3 > max) max = x3;
+  if (x4 > max) return x4;
+  return max;
 }
 
 
@@ -151,64 +150,63 @@ float max4(float x1, float x2, float x3, float x4)
  * isnumber()        - isdigit that also accepts plus, minus, and decimal point
  * escape_string() - add escapes to a string - currently for quotes only
  */
-
-uint8_t isnumber(char_t c)
-{
-    if (c == '.') { return true; }
-    if (c == '-') { return true; }
-    if (c == '+') { return true; }
-    return isdigit(c);
+uint8_t isnumber(char_t c) {
+  if (c == '.') return true;
+  if (c == '-') return true;
+  if (c == '+') return true;
+  return isdigit(c);
 }
 
-char_t *escape_string(char_t *dst, char_t *src)
-{
-    char_t c;
-    char_t *start_dst = dst;
 
-    while ((c = *(src++)) != 0) {    // 0
-        if (c == '"') { *(dst++) = '\\'; }
-        *(dst++) = c;
-    }
-    return start_dst;
+char_t *escape_string(char_t *dst, char_t *src) {
+  char_t c;
+  char_t *start_dst = dst;
+
+  while ((c = *(src++)) != 0) {    // 0
+    if (c == '"') *(dst++) = '\\';
+    *(dst++) = c;
+  }
+
+  return start_dst;
 }
 
+
 /*
  * pstr2str() - return an AVR style progmem string as a RAM string.
  *
  *    This function copies a string from FLASH to a pre-allocated RAM buffer -
  *  see main.c for allocation and max length.
  */
-char_t *pstr2str(const char *pgm_string)
-{
-    strncpy_P(global_string_buf, pgm_string, MESSAGE_LEN);
-    return global_string_buf;
+char_t *pstr2str(const char *pgm_string) {
+  strncpy_P(global_string_buf, pgm_string, MESSAGE_LEN);
+  return global_string_buf;
 }
 
+
 /*
  * fntoa() - return ASCII string given a float and a decimal precision value
  *
  *    Returns length of string, less the terminating 0 character
  */
-char_t fntoa(char_t *str, float n, uint8_t precision)
-{
-    // handle special cases
-    if (isnan(n)) {
-        strcpy(str, "nan");
-        return 3;
-
-    } else if (isinf(n)) {
-        strcpy(str, "inf");
-        return 3;
-
-    } else if (precision == 0 ) { return((char_t)sprintf((char *)str, "%0.0f", (double) n));
-    } else if (precision == 1 ) { return((char_t)sprintf((char *)str, "%0.1f", (double) n));
-    } else if (precision == 2 ) { return((char_t)sprintf((char *)str, "%0.2f", (double) n));
-    } else if (precision == 3 ) { return((char_t)sprintf((char *)str, "%0.3f", (double) n));
-    } else if (precision == 4 ) { return((char_t)sprintf((char *)str, "%0.4f", (double) n));
-    } else if (precision == 5 ) { return((char_t)sprintf((char *)str, "%0.5f", (double) n));
-    } else if (precision == 6 ) { return((char_t)sprintf((char *)str, "%0.6f", (double) n));
-    } else if (precision == 7 ) { return((char_t)sprintf((char *)str, "%0.7f", (double) n));
-    } else                        { return((char_t)sprintf((char *)str, "%f", (double) n)); }
+char_t fntoa(char_t *str, float n, uint8_t precision) {
+  // handle special cases
+  if (isnan(n)) {
+    strcpy(str, "nan");
+    return 3;
+
+  } else if (isinf(n)) {
+    strcpy(str, "inf");
+    return 3;
+
+  } else if (precision == 0 ) {return (char_t)sprintf((char *)str, "%0.0f", (double)n);
+  } else if (precision == 1 ) {return (char_t)sprintf((char *)str, "%0.1f", (double)n);
+  } else if (precision == 2 ) {return (char_t)sprintf((char *)str, "%0.2f", (double)n);
+  } else if (precision == 3 ) {return (char_t)sprintf((char *)str, "%0.3f", (double)n);
+  } else if (precision == 4 ) {return (char_t)sprintf((char *)str, "%0.4f", (double)n);
+  } else if (precision == 5 ) {return (char_t)sprintf((char *)str, "%0.5f", (double)n);
+  } else if (precision == 6 ) {return (char_t)sprintf((char *)str, "%0.6f", (double)n);
+  } else if (precision == 7 ) {return (char_t)sprintf((char *)str, "%0.7f", (double)n);
+  } else return (char_t)sprintf((char *)str, "%f", (double)n);
 }
 
 /*
@@ -221,22 +219,20 @@ char_t fntoa(char_t *str, float n, uint8_t precision)
  */
 #define HASHMASK 9999
 
-uint16_t compute_checksum(char_t const *string, const uint16_t length)
-{
-    uint32_t h = 0;
-    uint16_t len = strlen(string);
-    if (length != 0) len = min(len, length);
-    for (uint16_t i=0; i<len; i++) {
-        h = 31 * h + string[i];
-    }
-    return h % HASHMASK;
+uint16_t compute_checksum(char_t const *string, const uint16_t length) {
+  uint32_t h = 0;
+  uint16_t len = strlen(string);
+
+  if (length != 0) len = min(len, length);
+
+  for (uint16_t i=0; i<len; i++)
+    h = 31 * h + string[i];
+
+  return h % HASHMASK;
 }
 
-/*
- * SysTickTimer_getValue() - this is a hack to get around some compatibility problems
- */
 
-uint32_t SysTickTimer_getValue()
-{
-    return rtc.sys_ticks;
+/// SysTickTimer_getValue() - this is a hack to get around some compatibility problems
+uint32_t SysTickTimer_getValue() {
+  return rtc.sys_ticks;
 }