From cf5e79fc69420eb790fdd41986e47366f9cc1e87 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Wed, 1 Feb 2017 12:34:28 -0600
Subject: [PATCH] Changed logic in callbacks to reduce indentation.
see cb_setparam, cb_getparam
---
quad/sw/modular_quad_pid/src/callbacks.c | 144 ++++++++++++-----------
1 file changed, 74 insertions(+), 70 deletions(-)
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index 8c6661dad..3555fb458 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -112,35 +112,37 @@ int cb_setparam(modular_structs_t *structs)
// Get some of the meta data
u16 data_len = uart_buff_get_u16(6);
// Check if the data length is correct
- if (data_len == 6)
+ if (data_len != 6)
{
- // Get the controller ID, parameter ID, parameter value
- u8 controller_id = uart_buff_data_get_u8(0);
- u8 param_id = uart_buff_data_get_u8(1);
- float param_val = uart_buff_data_get_float(3);
-
- // Check to make sure the IDs are in bounds
- if (controller_id < MAX_CONTROLLER_ID &&
- param_id < MAX_CONTROL_PARAM_ID)
- {
- // Set the param_val into the controller by controller_id, param_id
- switch(param_id)
- {
- case KP_ID:
- structs->parameter_struct.pid_controllers[controller_id].Kp = param_val;
- break;
- case KI_ID:
- structs->parameter_struct.pid_controllers[controller_id].Ki = param_val;
- break;
- case KD_ID:
- structs->parameter_struct.pid_controllers[controller_id].Kd = param_val;
- break;
- case SP_ID:
- structs->parameter_struct.pid_controllers[controller_id].setpoint = param_val;
- break;
- }
- }
+ return -1;
+ }
+
+ // Get the controller ID, parameter ID, parameter value
+ u8 controller_id = uart_buff_data_get_u8(0);
+ u8 param_id = uart_buff_data_get_u8(1);
+ float param_val = uart_buff_data_get_float(3);
+ // Check to make sure the IDs are in bounds
+ if (controller_id >= MAX_CONTROLLER_ID ||
+ param_id >= MAX_CONTROL_PARAM_ID)
+ {
+ return -1;
+ }
+ // Set the param_val into the controller by controller_id, param_id
+ switch(param_id)
+ {
+ case KP_ID:
+ structs->parameter_struct.pid_controllers[controller_id].Kp = param_val;
+ break;
+ case KI_ID:
+ structs->parameter_struct.pid_controllers[controller_id].Ki = param_val;
+ break;
+ case KD_ID:
+ structs->parameter_struct.pid_controllers[controller_id].Kd = param_val;
+ break;
+ case SP_ID:
+ structs->parameter_struct.pid_controllers[controller_id].setpoint = param_val;
+ break;
}
return 0;
@@ -176,51 +178,53 @@ int cb_getparam(modular_structs_t* structs)
u16 data_len = uart_buff_get_u16(6);
u16 msg_id = uart_buff_get_u16(3);
// Check if the data length is correct
- if (data_len == 2)
+ if (data_len != 2)
+ {
+ return -1;
+ }
+
+ // Get the controller ID, parameter ID
+ u8 controller_id = uart_buff_data_get_u8(0);
+ u8 param_id = uart_buff_data_get_u8(1);
+ // Check to make sure the IDs are in bounds
+ if (controller_id >= MAX_CONTROLLER_ID ||
+ param_id >= MAX_CONTROL_PARAM_ID)
+ {
+ return -1;
+ }
+
+ // Make the variable to send
+ float param_val;
+ // Set the param_val equal to the parameter value stored in the controller by
+ // controller_id, param_id
+ switch(param_id)
{
- // Get the controller ID, parameter ID
- u8 controller_id = uart_buff_data_get_u8(0);
- u8 param_id = uart_buff_data_get_u8(1);
-
- // Check to make sure the IDs are in bounds
- if (controller_id < MAX_CONTROLLER_ID &&
- param_id < MAX_CONTROL_PARAM_ID)
- {
- // Make the variable to send
- float param_val;
- // Set the param_val equal to the parameter value stored in the controller by
- // controller_id, param_id
- switch(param_id)
- {
- case KP_ID:
- param_val = structs->parameter_struct.pid_controllers[controller_id].Kp;
- break;
- case KI_ID:
- param_val = structs->parameter_struct.pid_controllers[controller_id].Ki;
- break;
- case KD_ID:
- param_val = structs->parameter_struct.pid_controllers[controller_id].Kd;
- break;
- case SP_ID:
- param_val = structs->parameter_struct.pid_controllers[controller_id].setpoint;
- break;
- }
-
- // Format the response data
- char resp_data[6];
-
- // Controller ID
- resp_data[0] = controller_id;
- // Parameter ID
- resp_data[1] = param_id;
- // Parameter value (4 byte float)
- // TODO set a strict byte ordering for communication between the ground station and the quad
- memcpy(&resp_data[2], ¶m_val, sizeof(param_val));
-
- // Send the response
- send_data(RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
- }
+ case KP_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Kp;
+ break;
+ case KI_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Ki;
+ break;
+ case KD_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Kd;
+ break;
+ case SP_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].setpoint;
+ break;
}
+ // Format the response data
+ char resp_data[6];
+ // Controller ID
+ resp_data[0] = controller_id;
+ // Parameter ID
+ resp_data[1] = param_id;
+ // Parameter value (4 byte float)
+ // TODO set a strict byte ordering for communication between the ground station and the quad
+ memcpy(&resp_data[2], ¶m_val, sizeof(param_val));
+
+ // Send the response
+ send_data(RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
+
return 0;
}
--
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