From a33ceba76b3770d48c68a321b5d259893ddc613c Mon Sep 17 00:00:00 2001 From: zer0 Date: Sat, 10 Apr 2010 22:28:23 +0200 Subject: [PATCH 1/1] quadramp_indent --- .../filters/quadramp/quadramp.c | 31 +++++++++--------- .../filters/quadramp/quadramp.h | 32 +++++++++---------- 2 files changed, 31 insertions(+), 32 deletions(-) diff --git a/modules/devices/control_system/filters/quadramp/quadramp.c b/modules/devices/control_system/filters/quadramp/quadramp.c index 847d01a..b7f18a4 100644 --- a/modules/devices/control_system/filters/quadramp/quadramp.c +++ b/modules/devices/control_system/filters/quadramp/quadramp.c @@ -1,7 +1,6 @@ - -/* +/* * Copyright Droids Corporation, Microb Technology, Eirbot (2005) - * + * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or @@ -45,8 +44,8 @@ void quadramp_reset(struct quadramp_filter * q) q->previous_in = 0; } -void quadramp_set_2nd_order_vars(struct quadramp_filter * q, - uint32_t var_2nd_ord_pos, +void quadramp_set_2nd_order_vars(struct quadramp_filter * q, + uint32_t var_2nd_ord_pos, uint32_t var_2nd_ord_neg) { uint8_t flags; @@ -56,8 +55,8 @@ void quadramp_set_2nd_order_vars(struct quadramp_filter * q, IRQ_UNLOCK(flags); } -void quadramp_set_1st_order_vars(struct quadramp_filter * q, - uint32_t var_1st_ord_pos, +void quadramp_set_1st_order_vars(struct quadramp_filter * q, + uint32_t var_1st_ord_pos, uint32_t var_1st_ord_neg) { uint8_t flags; @@ -76,10 +75,10 @@ uint8_t quadramp_is_finished(struct quadramp_filter *q) /** * Process the ramp - * + * * \param data should be a (struct quadramp_filter *) pointer * \param in is the input of the filter - * + * */ int32_t quadramp_do_filter(void * data, int32_t in) { @@ -93,13 +92,13 @@ int32_t quadramp_do_filter(void * data, int32_t in) int32_t previous_var, previous_out ; if ( q->var_1st_ord_pos ) - var_1st_ord_pos = q->var_1st_ord_pos ; + var_1st_ord_pos = q->var_1st_ord_pos ; if ( q->var_1st_ord_neg ) var_1st_ord_neg = -q->var_1st_ord_neg ; if ( q->var_2nd_ord_pos ) - var_2nd_ord_pos = q->var_2nd_ord_pos ; + var_2nd_ord_pos = q->var_2nd_ord_pos ; if ( q->var_2nd_ord_neg ) var_2nd_ord_neg = -q->var_2nd_ord_neg ; @@ -122,16 +121,16 @@ int32_t quadramp_do_filter(void * data, int32_t in) else if (d < 0 && var_2nd_ord_pos) { int32_t ramp_neg; - + /* var_2nd_ord_pos > 0 */ /* real EQ : sqrt( var_2nd_ord_pos^2/4 - 2.d.var_2nd_ord_pos ) - var_2nd_ord_pos/2 */ ramp_neg = -sqrt( (var_2nd_ord_pos*var_2nd_ord_pos)/4 - 2*d*var_2nd_ord_pos ) - var_2nd_ord_pos/2; - + /* ramp_neg < 0 */ if(ramp_neg > var_1st_ord_neg) var_1st_ord_neg = ramp_neg ; } - + /* try to set the speed : can we reach the speed with our acceleration ? */ /* si on va moins vite que la Vmax */ if ( previous_var < var_1st_ord_pos ) { @@ -142,14 +141,14 @@ int32_t quadramp_do_filter(void * data, int32_t in) var_1st_ord_pos = previous_var + var_2nd_ord_pos ; } /* si on va plus vite que Vmax */ - else if ( previous_var > var_1st_ord_pos ) { + else if ( previous_var > var_1st_ord_pos ) { /* deceleration would be to high, we increase the speed */ /* si rampe deceleration active ET qu'on ne peut pas atteindre Vmax, * on sature Vmax a Vcourante + deceleration */ if (var_2nd_ord_neg && ( var_1st_ord_pos - previous_var < var_2nd_ord_neg) ) var_1st_ord_pos = previous_var + var_2nd_ord_neg; } - + /* same for the neg */ /* si on va plus vite que la Vmin (en negatif : en vrai la vitesse absolue est inferieure) */ if ( previous_var > var_1st_ord_neg ) { diff --git a/modules/devices/control_system/filters/quadramp/quadramp.h b/modules/devices/control_system/filters/quadramp/quadramp.h index 69b95b3..5e8100c 100644 --- a/modules/devices/control_system/filters/quadramp/quadramp.h +++ b/modules/devices/control_system/filters/quadramp/quadramp.h @@ -1,6 +1,6 @@ -/* +/* * Copyright Droids Corporation, Microb Technology, Eirbot (2005) - * + * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or @@ -26,27 +26,27 @@ struct quadramp_filter { - uint32_t var_2nd_ord_pos; - uint32_t var_2nd_ord_neg; - uint32_t var_1st_ord_pos; - uint32_t var_1st_ord_neg; + uint32_t var_2nd_ord_pos; + uint32_t var_2nd_ord_neg; + uint32_t var_1st_ord_pos; + uint32_t var_1st_ord_neg; - int32_t previous_var; - int32_t previous_out; - int32_t previous_in; + int32_t previous_var; + int32_t previous_out; + int32_t previous_in; }; /** Initialization of the filter */ void quadramp_init(struct quadramp_filter *q); -void quadramp_reset(struct quadramp_filter * q); +void quadramp_reset(struct quadramp_filter *q); -void quadramp_set_2nd_order_vars(struct quadramp_filter *q, - uint32_t var_2nd_ord_pos, +void quadramp_set_2nd_order_vars(struct quadramp_filter *q, + uint32_t var_2nd_ord_pos, uint32_t var_2nd_ord_neg); -void quadramp_set_1st_order_vars(struct quadramp_filter *q, - uint32_t var_1st_ord_pos, +void quadramp_set_1st_order_vars(struct quadramp_filter *q, + uint32_t var_1st_ord_pos, uint32_t var_1st_ord_neg); /** @@ -57,10 +57,10 @@ uint8_t quadramp_is_finished(struct quadramp_filter *q); /** * Process the ramp - * + * * \param data should be a (struct quadramp_filter *) pointer * \param in is the input of the filter */ -int32_t quadramp_do_filter(void * data, int32_t in); +int32_t quadramp_do_filter(void *data, int32_t in); #endif -- 2.20.1