uncrustify libraries/AP_PeriodicProcess/AP_TimerProcess.cpp

libraries/AP_PeriodicProcess/AP_TimerProcess.cpp

@@ -8,9 +8,9 @@ extern "C" {
 #include <avr/interrupt.h>
 }
 #if defined(ARDUINO) && ARDUINO >= 100
-	#include "Arduino.h"
+ #include "Arduino.h"
 #else
-	#include "WConstants.h"
+ #include "WConstants.h"
 #endif
 
 uint8_t AP_TimerProcess::_period;
@@ -27,26 +27,26 @@ AP_TimerProcess::AP_TimerProcess(uint8_t period)
 
 void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg )
 {
-	// Enable Timer2 Overflow interrupt to trigger process.
+    // Enable Timer2 Overflow interrupt to trigger process.
-	TIMSK2 = 0;                 // Disable interrupts
+    TIMSK2 = 0;                     // Disable interrupts
-	TCCR2A = 0;                 // normal counting mode
+    TCCR2A = 0;                     // normal counting mode
-	TCCR2B = _BV(CS21) | _BV(CS22);	// Set prescaler of clk/256
+    TCCR2B = _BV(CS21) | _BV(CS22);     // Set prescaler of clk/256
-	TCNT2  = 0;                 // Set count to zero, so it goes off right away.
+    TCNT2  = 0;                     // Set count to zero, so it goes off right away.
-	TIFR2  = _BV(TOV2);	        // clear pending interrupts;
+    TIFR2  = _BV(TOV2);                 // clear pending interrupts;
-	TIMSK2 = _BV(TOIE2);        // enable the overflow interrupt
+    TIMSK2 = _BV(TOIE2);            // enable the overflow interrupt
 
     _failsafe = NULL;
     _suspended = false;
-	_in_timer_call = false;
+    _in_timer_call = false;
 
-	for (uint8_t i = 0; i < AP_TIMERPROCESS_MAX_PROCS; i++)
+    for (uint8_t i = 0; i < AP_TIMERPROCESS_MAX_PROCS; i++)
-		_proc[i] = NULL;
+        _proc[i] = NULL;
 
-	isr_reg->register_signal( ISR_REGISTRY_TIMER2_OVF, AP_TimerProcess::run);
+    isr_reg->register_signal( ISR_REGISTRY_TIMER2_OVF, AP_TimerProcess::run);
 }
 
 /*
-  register a process to be called at the timer interrupt rate
+ *  register a process to be called at the timer interrupt rate
  */
 void AP_TimerProcess::register_process(ap_procedure proc)
 {
@@ -63,49 +63,49 @@ void AP_TimerProcess::register_process(ap_procedure proc)
 
 void AP_TimerProcess::set_failsafe(ap_procedure proc)
 {
-	_failsafe = proc;
+    _failsafe = proc;
 }
 
 void AP_TimerProcess::suspend_timer(void)
 {
-	_suspended = true;
+    _suspended = true;
 }
 
 void AP_TimerProcess::resume_timer(void)
 {
-	_suspended = false;
+    _suspended = false;
 }
 
 void AP_TimerProcess::run(void)
 {
-	// we enable the interrupt again immediately and also enable
+    // we enable the interrupt again immediately and also enable
-	// interrupts. This allows other time critical interrupts to
+    // interrupts. This allows other time critical interrupts to
-	// run (such as the serial receive interrupt). We catch the
+    // run (such as the serial receive interrupt). We catch the
-	// timer calls taking too long using _in_timer_call. 
+    // timer calls taking too long using _in_timer_call.
-	// This approach also gives us a nice uniform spacing between
+    // This approach also gives us a nice uniform spacing between
-	// timer calls
+    // timer calls
-	TCNT2 = _period;
+    TCNT2 = _period;
-	sei();
+    sei();
-
+
-	uint32_t tnow = micros();
+    uint32_t tnow = micros();
-
+
-	if (_in_timer_call) {
+    if (_in_timer_call) {
-		// the timer calls took longer than the period of the
+        // the timer calls took longer than the period of the
-		// timer. This is bad, and may indicate a serious
+        // timer. This is bad, and may indicate a serious
-		// driver failure. We can't just call the drivers
+        // driver failure. We can't just call the drivers
-		// again, as we could run out of stack. So we only
+        // again, as we could run out of stack. So we only
-		// call the _failsafe call. It's job is to detect if
+        // call the _failsafe call. It's job is to detect if
-		// the drivers or the main loop are indeed dead and to
+        // the drivers or the main loop are indeed dead and to
-		// activate whatever failsafe it thinks may help if
+        // activate whatever failsafe it thinks may help if
-		// need be.  We assume the failsafe code can't
+        // need be.  We assume the failsafe code can't
-		// block. If it does then we will recurse and die when
+        // block. If it does then we will recurse and die when
-		// we run out of stack
+        // we run out of stack
-		if (_failsafe != NULL) {
+        if (_failsafe != NULL) {
-			_failsafe(tnow);
+            _failsafe(tnow);
-		}
+        }
-		return;
+        return;
-	}
+    }
-	_in_timer_call = true;
+    _in_timer_call = true;
 
     if (!_suspended) {
         // now call the timer based drivers
@@ -116,10 +116,10 @@ void AP_TimerProcess::run(void)
         }
     }
 
-	// and the failsafe, if one is setup
+    // and the failsafe, if one is setup
-	if (_failsafe != NULL) {
+    if (_failsafe != NULL) {
-		_failsafe(tnow);
+        _failsafe(tnow);
-	}
+    }
 
-	_in_timer_call = false;
+    _in_timer_call = false;
 }