quadramp_indent

diff --git a/modules/devices/control_system/filters/quadramp/quadramp.c b/modules/devices/control_system/filters/quadramp/quadramp.c
index 847d01aac05fe007875250b4ab71881f55ee3faf..b7f18a43ba824f942c03d682faadab05d87060d0 100644 (file)
--- 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 69b95b3b45b029a6e43b75fe8c49c81e36dca5a2..5e8100c1f822c6bfae5864300e4ed5a3c67a62df 100644 (file)
--- 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