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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2022/08/11 13:13:58 UTC
[GitHub] [mynewt-nimble] apache-mynewt-bot commented on pull request #1320: apps/bleservo: Initial commit.
apache-mynewt-bot commented on PR #1320:
URL: https://github.com/apache/mynewt-nimble/pull/1320#issuecomment-1211973098
<!-- style-bot -->
## Style check summary
### Our coding style is [here!](https://github.com/apache/mynewt-core/blob/master/CODING_STANDARDS.md)
#### apps/bleservo/src/ble_servo.h
<details>
```diff
@@ -28,13 +28,13 @@
#endif
#define PWM_CH_CFG_PIN 31
-#define PWM_CH_CFG_INV false
+#define PWM_CH_CFG_INV false
#define PWM_CH_NUM 0
#define PWM_IRQ_PRIO 1
-/*
- * Servomotors work with 50 Hz PWM signal and accept pulse duration from around 1000us minimum (0 degree rotation)
- * to 2000us maximum (180 degree rotation). Unfortunataly those values of minimum and maximum
+/*
+ * Servomotors work with 50 Hz PWM signal and accept pulse duration from around 1000us minimum (0 degree rotation)
+ * to 2000us maximum (180 degree rotation). Unfortunataly those values of minimum and maximum
* PWM pulse duration are only approximate and might differ with different servos, because they are not standardized.
* Values defined below allow to adjust them for each servo you might use.
*/
```
</details>
#### apps/bleservo/src/gatt_svr.c
<details>
```diff
@@ -31,12 +31,12 @@
/* 5c3a659e-897e-45e1-b016-007107c96df6 */
static const ble_uuid128_t gatt_svr_chr_servo_angle_uuid =
- BLE_UUID128_INIT(0xf6, 0x6d, 0xc9, 0x07, 0x71, 0x00, 0x16, 0xb0,
+ BLE_UUID128_INIT(0xf6, 0x6d, 0xc9, 0x07, 0x71, 0x00, 0x16, 0xb0,
0xe1, 0x45, 0x7e, 0x89, 0x9e, 0x65, 0x3a, 0x5c);
/* 6d456567-8995-45e1-b016-007107c96df6 */
static const ble_uuid128_t gatt_svr_chr_servo_pulse_duration_uuid =
- BLE_UUID128_INIT(0xf6, 0x6d, 0xc9, 0x07, 0x71, 0x00, 0x16, 0xb0,
+ BLE_UUID128_INIT(0xf6, 0x6d, 0xc9, 0x07, 0x71, 0x00, 0x16, 0xb0,
0xe1, 0x45, 0x95, 0x89, 0x67, 0x65, 0x45, 0x6d);
/* Values kept in characteristics */
@@ -50,11 +50,11 @@
static int
gatt_svr_chr_access_servo_angle(uint16_t conn_handle, uint16_t attr_handle,
- struct ble_gatt_access_ctxt *ctxt, void *arg);
+ struct ble_gatt_access_ctxt *ctxt, void *arg);
static int
gatt_svr_chr_access_servo_pulse_duration(uint16_t conn_handle, uint16_t attr_handle,
- struct ble_gatt_access_ctxt *ctxt, void *arg);
+ struct ble_gatt_access_ctxt *ctxt, void *arg);
static int
gatt_svr_chr_write(struct os_mbuf *om, uint16_t min_len, uint16_t max_len,
@@ -82,29 +82,29 @@
.type = BLE_GATT_SVC_TYPE_PRIMARY,
.uuid = &gatt_svr_svc_servo_uuid.u,
.characteristics = (struct ble_gatt_chr_def[]) { {
- /* Characteristic: servo angle*/
- .uuid = &gatt_svr_chr_servo_angle_uuid.u,
- .val_handle = &gatt_angle_val_handle,
- .access_cb = gatt_svr_chr_access_servo_angle,
- .flags = BLE_GATT_CHR_F_READ |
- BLE_GATT_CHR_F_WRITE |
- BLE_GATT_CHR_F_NOTIFY
- }, {
- /* Characteristic: servo PWM pulse duration*/
- .uuid = &gatt_svr_chr_servo_pulse_duration_uuid.u,
- .val_handle = &gatt_pulse_duration_val_handle,
- .access_cb = gatt_svr_chr_access_servo_pulse_duration,
- .flags = BLE_GATT_CHR_F_READ |
- BLE_GATT_CHR_F_WRITE |
- BLE_GATT_CHR_F_NOTIFY
- }, {
- 0, /* No more characteristics in this service */
- }, }
+ /* Characteristic: servo angle*/
+ .uuid = &gatt_svr_chr_servo_angle_uuid.u,
+ .val_handle = &gatt_angle_val_handle,
+ .access_cb = gatt_svr_chr_access_servo_angle,
+ .flags = BLE_GATT_CHR_F_READ |
+ BLE_GATT_CHR_F_WRITE |
+ BLE_GATT_CHR_F_NOTIFY
+ }, {
+ /* Characteristic: servo PWM pulse duration*/
+ .uuid = &gatt_svr_chr_servo_pulse_duration_uuid.u,
+ .val_handle = &gatt_pulse_duration_val_handle,
+ .access_cb = gatt_svr_chr_access_servo_pulse_duration,
+ .flags = BLE_GATT_CHR_F_READ |
+ BLE_GATT_CHR_F_WRITE |
+ BLE_GATT_CHR_F_NOTIFY
+ }, {
+ 0, /* No more characteristics in this service */
+ }, }
},
- {
- 0, /* No more services */
- },
+ {
+ 0, /* No more services */
+ },
};
static int
```
</details>
#### apps/bleservo/src/main.c
<details>
```diff
@@ -72,11 +72,9 @@
{
if (gatt_value > SERVO_MAX_ANGLE_VAL) {
servo_angle = SERVO_MAX_ANGLE_VAL;
- }
- else if (gatt_value < SERVO_MIN_ANGLE_VAL) {
+ } else if (gatt_value < SERVO_MIN_ANGLE_VAL) {
servo_angle = SERVO_MIN_ANGLE_VAL;
- }
- else {
+ } else {
servo_angle = gatt_value;
}
@@ -92,11 +90,9 @@
{
if (gatt_value > SERVO_MAX_PULSE_DURATION_US) {
servo_pwm_pulse_duration = SERVO_MAX_PULSE_DURATION_US;
- }
- else if (gatt_value < SERVO_MIN_PULSE_DURATION_US) {
+ } else if (gatt_value < SERVO_MIN_PULSE_DURATION_US) {
servo_pwm_pulse_duration = SERVO_MIN_PULSE_DURATION_US;
- }
- else {
+ } else {
servo_pwm_pulse_duration = gatt_value;
}
@@ -108,9 +104,9 @@
static void
-pwm_frac_update_ev_cb (struct os_event *ev)
-{
- struct os_mbuf* om;
+pwm_frac_update_ev_cb(struct os_event *ev)
+{
+ struct os_mbuf * om;
if (was_angle_passed == true) {
frac = angle_to_frac(servo_angle);
@@ -126,7 +122,7 @@
/* Notifications are send to keep client's info about pwm pulse duration and angle values up to date */
om = ble_hs_mbuf_from_flat(&servo_angle, sizeof(servo_angle));
ble_gatts_notify_custom(conn_handle, get_gatt_angle_val_handle(), om);
-
+
om = ble_hs_mbuf_from_flat(&servo_pwm_pulse_duration, sizeof(servo_pwm_pulse_duration));
ble_gatts_notify_custom(conn_handle, get_gatt_pulse_duration_val_handle(), om);
}
@@ -176,7 +172,7 @@
rc = pwm_configure_channel(servo, PWM_CH_NUM, &chan_conf);
assert(rc == 0);
-
+
rc = pwm_set_duty_cycle(servo, PWM_CH_NUM, frac);
rc = pwm_enable(servo);
assert(rc == 0);
@@ -230,9 +226,8 @@
/* Connection failed; resume advertising */
bleservo_advertise();
conn_handle = 0;
- }
- else {
- conn_handle = event->connect.conn_handle;
+ } else {
+ conn_handle = event->connect.conn_handle;
}
break;
@@ -254,7 +249,7 @@
MODLOG_DFLT(INFO, "subscribe event; cur_notify=%d\n value handle; "
"val_handle=%d\n",
event->subscribe.cur_notify, servo_angle);
- break;
+ break;
case BLE_GAP_EVENT_MTU:
MODLOG_DFLT(INFO, "mtu update event; conn_handle=%d mtu=%d\n",
@@ -335,7 +330,8 @@
uint16_t
frac_to_angle(uint16_t frac_)
{
- return (SERVO_MAX_ANGLE_VAL * frac_ - SERVO_MAX_ANGLE_VAL * servo_frac_min_val) / (servo_frac_max_val - servo_frac_min_val);
+ return (SERVO_MAX_ANGLE_VAL * frac_ - SERVO_MAX_ANGLE_VAL * servo_frac_min_val) /
+ (servo_frac_max_val - servo_frac_min_val);
}
uint16_t
```
</details>
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