Improve style

4 files changed, 136 insertions, 163 deletions

diff --git a/src/actuators.c b/src/actuators.c
index 5d65a64..dcb64d0 100755
--- a/src/actuators.c
+++ b/src/actuators.c
@@ -77,6 +77,7 @@ static	float	yaw;
 static	int	modules_init		(void);
 static	int	modules_deinit		(void);
 static	int	proc_actuators_it	(void);
+static	int	proc_actuators_ev	(void);
 static	int	proc_actuators_delay	(void);
 static	int	proc_ref_read		(void);
 static	int	proc_actuators_set	(void);
@@ -93,22 +94,18 @@ static	int	proc_actuators_set	(void);
 int	proc_actuators_init	(void)
 {
 
-	if (init_pending) {
-		init_pending	= false;
-	} else {
+	if (!init_pending)
 		return	ERROR_OK;
-	}
 
-	if (modules_init()) {
-		goto err_mod;
-	}
+	if (modules_init())
+		goto err;
 
-	return	ERROR_OK;
+	init_pending	= false;
 
+	return	ERROR_OK;
 
-err_mod:
-	init_pending	= true;
 
+err:
 	return	ERROR_NOK;
 }
 
@@ -121,17 +118,15 @@ int	proc_actuators_deinit	(void)
 {
 	int	status;
 
-	status	= ERROR_OK;
-
-	if (!init_pending) {
-		init_pending	= true;
-	} else {
+	if (init_pending)
 		return	status;
-	}
 
-	if (modules_deinit()) {
+	init_pending	= true;
+
+	status	= ERROR_OK;
+
+	if (modules_deinit())
 		status	= ERROR_NOK;
-	}
 
 	return	status;
 }
@@ -145,26 +140,20 @@ int	proc_actuators	(void)
 {
 
 	if (init_pending) {
-		if (proc_actuators_init()) {
+		if (proc_actuators_init())
 			return	ERROR_NOK;
-		}
 	}
 
 	switch (PROJECT_ACT_TASKING) {
 	case PROJECT_ACT_DEL:
-		if (proc_actuators_it()) {
-			return	ERROR_NOK;
-		}
-		break;
+		return	proc_actuators_delay();
 	case PROJECT_ACT_IT:
+		return	proc_actuators_it();
 	case PROJECT_ACT_EV:
-		if (proc_actuators_delay()) {
-			return	ERROR_NOK;
-		}
-		break;
+		return	proc_actuators_ev();
+	default:
+		return	ERROR_NOK;
 	}
-
-	return	ERROR_OK;
 }
 
 
@@ -176,21 +165,17 @@ static	int	modules_init		(void)
 
 	led_init();
 	button_init();
-	if (delay_us_init()) {
+	if (delay_us_init())
 		goto err_delay;
-	}
 
-	if (can_init()) {
+	if (can_init())
 		goto err_can;
-	}
-	if (servo_init()) {
+	if (servo_init())
 		goto err_servo;
-	}
 
 	if (PROJECT_ACT_TASKING != PROJECT_ACT_DEL) {
-		if (tim_it_init(ACT_REFRESH_PERIOD_US)) {
+		if (tim_it_init(ACT_REFRESH_PERIOD_US))
 			goto err_tim;
-		}
 	}
 
 	return	ERROR_OK;
@@ -215,18 +200,14 @@ static	int	modules_deinit		(void)
 
 	status	= ERROR_OK;
 
-	if (servo_deinit()) {
+	if (servo_deinit())
 		status	= ERROR_NOK;
-	}
-	if (can_deinit()) {
+	if (can_deinit())
 		status	= ERROR_NOK;
-	}
-	if (tim_it_deinit()) {
+	if (tim_it_deinit())
 		status	= ERROR_NOK;
-	}
-	if (delay_us_deinit()) {
+	if (delay_us_deinit())
 		status	= ERROR_NOK;
-	}
 	button_deinit();
 	led_deinit();
 
@@ -237,20 +218,33 @@ static	int	proc_actuators_it	(void)
 {
 
 	while (true) {
-		switch (PROJECT_ACT_TASKING) {
-		case PROJECT_ACT_IT:
-			__WFI();
-			break;
-		case PROJECT_ACT_EV:
-			__WFE();
-			break;
+		__WFI();
+
+		if (*tim_it_timx_interrupt_ptr) {
+			if (!proc_ref_read()) {
+				if (proc_actuators_set())
+					return	ERROR_NOK;
+			}
+
+			*tim_it_timx_interrupt_ptr	= false;
+		} else if (button_interrupt) {
+			led_toggle();
+
+			button_interrupt	= false;
 		}
+	}
+}
+
+static	int	proc_actuators_ev	(void)
+{
+
+	while (true) {
+		__WFE();
 
 		if (*tim_it_timx_interrupt_ptr) {
 			if (!proc_ref_read()) {
-				if (proc_actuators_set()) {
+				if (proc_actuators_set())
 					return	ERROR_NOK;
-				}
 			}
 
 			*tim_it_timx_interrupt_ptr	= false;
@@ -269,9 +263,8 @@ static	int	proc_actuators_delay	(void)
 		delay_us(ACT_REFRESH_PERIOD_US);
 
 		if (!proc_ref_read()) {
-			if (proc_actuators_set()) {
+			if (proc_actuators_set())
 				return	ERROR_NOK;
-			}
 		}
 	}
 }
@@ -280,9 +273,8 @@ static	int	proc_ref_read		(void)
 {
 	int8_t	plane_pos [CAN_DATA_LEN];
 
-	if (can_msg_read((uint8_t *)plane_pos)) {
+	if (can_msg_read((uint8_t *)plane_pos))
 		return	ERROR_NOK;
-	}
 
 	pitch	= plane_pos[0];
 	roll	= plane_pos[1];
@@ -296,33 +288,27 @@ static	int	proc_actuators_set	(void)
 	float	tmp;
 
 	tmp	= alx_scale_linear_f(pitch, -40, 40, -90, 90);
-	if (servo_position_set(SERVO_S1, tmp)) {
+	if (servo_position_set(SERVO_S1, tmp))
 		return	ERROR_NOK;
-	}
 
 	tmp	= alx_scale_linear_f(roll, -35, 35, -90, -20);
-	if (servo_position_set(SERVO_S2, tmp)) {
+	if (servo_position_set(SERVO_S2, tmp))
 		return	ERROR_NOK;
-	}
 
 	if (yaw > 0) {
-		if (servo_position_set(SERVO_S3, 90)) {
+		if (servo_position_set(SERVO_S3, 90))
 			return	ERROR_NOK;
-		}
 
 		tmp	= alx_scale_linear_f(yaw, 0, 10, -90, 90);
-		if (servo_position_set(SERVO_S4, tmp)) {
+		if (servo_position_set(SERVO_S4, tmp))
 			return	ERROR_NOK;
-		}
 	} else {
 		tmp	= alx_scale_linear_f(yaw, -10, 0, -90, 90);
-		if (servo_position_set(SERVO_S3, tmp)) {
+		if (servo_position_set(SERVO_S3, tmp))
 			return	ERROR_NOK;
-		}
 
-		if (servo_position_set(SERVO_S4, -90)) {
+		if (servo_position_set(SERVO_S4, -90))
 			return	ERROR_NOK;
-		}
 	}
 
 	return	ERROR_OK;
diff --git a/src/ctrl.c b/src/ctrl.c
index 82335ea..2d9d7a7 100755
--- a/src/ctrl.c
+++ b/src/ctrl.c
@@ -81,6 +81,7 @@ static	bool	level;
 static	int	modules_init		(void);
 static	int	modules_deinit		(void);
 static	int	proc_ctrl_it		(void);
+static	int	proc_ctrl_ev		(void);
 static	int	proc_ctrl_delay		(void);
 static	int	proc_ctrl_read		(void);
 static	int	proc_ctrl_report	(void);
@@ -97,24 +98,19 @@ static	int	proc_ctrl_report	(void);
 int	proc_ctrl_init		(void)
 {
 
-	if (init_pending) {
-		init_pending	= false;
-	} else {
+	if (!init_pending)
 		return	ERROR_OK;
-	}
 
-	if (modules_init()) {
+	if (modules_init())
 		goto err_mod;
-	}
-
 	level	= true;
 
+	init_pending	= false;
+
 	return	ERROR_OK;
 
 
 err_mod:
-	init_pending	= true;
-
 	return	ERROR_NOK;
 }
 
@@ -127,17 +123,15 @@ int	proc_ctrl_deinit	(void)
 {
 	int	status;
 
-	status	= ERROR_OK;
+	if (init_pending)
+		return	ERROR_OK;
 
-	if (!init_pending) {
-		init_pending	= true;
-	} else {
-		return	status;
-	}
+	status	= ERROR_OK;
 
-	if (modules_deinit()) {
+	if (modules_deinit())
 		status	= ERROR_NOK;
-	}
+
+	init_pending	= true;
 
 	return	status;
 }
@@ -151,23 +145,17 @@ int	proc_ctrl		(void)
 {
 
 	if (init_pending) {
-		if (proc_ctrl_init()) {
+		if (proc_ctrl_init())
 			return	ERROR_NOK;
-		}
 	}
 
 	switch (PROJECT_CTRL_TASKING) {
 	case PROJECT_CTRL_DEL:
-		if (proc_ctrl_it()) {
-			return	ERROR_NOK;
-		}
-		break;
+		return	proc_ctrl_delay();
 	case PROJECT_CTRL_IT:
+		return	proc_ctrl_it();
 	case PROJECT_CTRL_EV:
-		if (proc_ctrl_delay()) {
-			return	ERROR_NOK;
-		}
-		break;
+		return	proc_ctrl_ev();
 	}
 
 	return	ERROR_OK;
@@ -181,21 +169,16 @@ static	int	modules_init		(void)
 {
 
 	led_init();
-	if (delay_us_init()) {
+	if (delay_us_init())
 		goto err_delay;
-	}
-
-	if (can_init()) {
+	if (can_init())
 		goto err_can;
-	}
-	if (nunchuk_init()) {
+	if (nunchuk_init())
 		goto err_nunchuk;
-	}
 
 	if (PROJECT_CTRL_TASKING != PROJECT_CTRL_DEL) {
-		if (tim_it_init(CTRL_REFRESH_PERIOD_US)) {
+		if (tim_it_init(CTRL_REFRESH_PERIOD_US))
 			goto err_tim;
-		}
 	}
 
 	return	ERROR_OK;
@@ -219,21 +202,16 @@ static	int	modules_deinit		(void)
 
 	status	= ERROR_OK;
 
-	if (nunchuk_deinit()) {
+	if (nunchuk_deinit())
 		status	= ERROR_NOK;
-	}
-	if (can_deinit()) {
+	if (can_deinit())
 		status	= ERROR_NOK;
-	}
-	if (tim_it_deinit()) {
+	if (tim_it_deinit())
 		status	= ERROR_NOK;
-	}
-	if (delay_us_deinit()) {
+	if (delay_us_deinit())
 		status	= ERROR_NOK;
-	}
 	led_deinit();
 
-
 	return	status;
 }
 
@@ -241,22 +219,32 @@ static	int	proc_ctrl_it		(void)
 {
 
 	while (true) {
-		switch (PROJECT_CTRL_TASKING) {
-		case PROJECT_CTRL_IT:
-			__WFI();
-			break;
-		case PROJECT_CTRL_EV:
-			__WFE();
-			break;
+		__WFI();
+
+		if (*tim_it_timx_interrupt_ptr) {
+			if (proc_ctrl_read())
+				return	ERROR_NOK;
+
+			if (proc_ctrl_report())
+				return	ERROR_NOK;
+
+			*tim_it_timx_interrupt_ptr	= false;
 		}
+	}
+}
+
+static	int	proc_ctrl_ev		(void)
+{
+
+	while (true) {
+		__WFI();
 
 		if (*tim_it_timx_interrupt_ptr) {
-			if (proc_ctrl_read()) {
+			if (proc_ctrl_read())
 				return	ERROR_NOK;
-			}
-			if (proc_ctrl_report()) {
+
+			if (proc_ctrl_report())
 				return	ERROR_NOK;
-			}
 
 			*tim_it_timx_interrupt_ptr	= false;
 		}
@@ -269,12 +257,10 @@ static	int	proc_ctrl_delay		(void)
 	while (true) {
 		delay_us(CTRL_REFRESH_PERIOD_US);
 
-		if (proc_ctrl_read()) {
+		if (proc_ctrl_read())
 			return	ERROR_NOK;
-		}
-		if (proc_ctrl_report()) {
+		if (proc_ctrl_report())
 			return	ERROR_NOK;
-		}
 	}
 }
 
@@ -283,9 +269,8 @@ static	int	proc_ctrl_read		(void)
 	Nunchuk_Data_s	nunchuk;
 	float		tmp;
 
-	if (nunchuk_read(&nunchuk)) {
+	if (nunchuk_read(&nunchuk))
 		return	ERROR_NOK;
-	}
 
 	tmp	= nunchuk.jst.y;
 	pitch	= -alx_scale_linear_f(tmp, 0, UINT8_MAX, -40, 40);
@@ -314,34 +299,30 @@ static	int	proc_ctrl_report	(void)
 	} else {
 		led_reset();
 
-		if (pitch > INT8_MAX) {
+		if (pitch > INT8_MAX)
 			plane_pos[0]	= INT8_MAX;
-		} else if (pitch < INT8_MIN) {
+		else if (pitch < INT8_MIN)
 			plane_pos[0]	= INT8_MIN;
-		} else {
+		else
 			plane_pos[0]	= (int8_t)pitch;
-		}
 
-		if (roll > INT8_MAX) {
+		if (roll > INT8_MAX)
 			plane_pos[1]	= INT8_MAX;
-		} else if (roll < INT8_MIN) {
+		else if (roll < INT8_MIN)
 			plane_pos[1]	= INT8_MIN;
-		} else {
+		else
 			plane_pos[1]	= (int8_t)roll;
-		}
 
-		if (yaw > INT8_MAX) {
+		if (yaw > INT8_MAX)
 			plane_pos[2]	= INT8_MAX;
-		} else if (yaw < INT8_MIN) {
+		else if (yaw < INT8_MIN)
 			plane_pos[2]	= INT8_MIN;
-		} else {
+		else
 			plane_pos[2]	= (int8_t)yaw;
-		}
 	}
 
-	if (can_msg_write((uint8_t *)plane_pos)) {
+	if (can_msg_write((uint8_t *)plane_pos))
 		return	ERROR_NOK;
-	}
 
 	return	ERROR_OK;
 }
diff --git a/src/main.c b/src/main.c
index ca88f6a..82dcc5f 100755
--- a/src/main.c
+++ b/src/main.c
@@ -48,11 +48,16 @@
 /******************************************************************************
  ******* macros ***************************************************************
  ******************************************************************************/
-#define DEBUG_MODE		(true)
+#define DEBUG_MODE		(false)
 
+/* Can be a value of  <enum Project_SysClk_Source> */
 #define PROJECT_SYSCLK_SOURCE	(PROJECT_SYSCLK_FROM_PLL_MSI)
 
-#define PROJECT_COMPONENT	(PROJECT_COMPONENT_OFF)
+/* Can be a value of  <enum Project_Component> */
+#define PROJECT_COMPONENT	(PROJECT_COMPONENT_CTRL)
+
+/* Can be a value of  <enum Stuck_4ever_LED_State> */
+#define STUCK_4EVER_LED_STATE	(STUCK_4EVER_LED_ON)
 
 
 /******************************************************************************
@@ -71,6 +76,11 @@
 		PROJECT_COMPONENT_ACT
 	};
 
+	enum	Stuck_4ever_LED_State {
+		STUCK_4EVER_LED_OFF = false,
+		STUCK_4EVER_LED_ON = true
+	};
+
 
 /******************************************************************************
  ******* structs **************************************************************
@@ -101,29 +111,25 @@ noreturn int	main	(void)
 {
 
 	HAL_Init();
-	if (sysclk_config()) {
+	if (sysclk_config())
 		goto err_clk;
-	}
 
 	if (DEBUG_MODE) {
-		if (test()) {
+		if (test())
 			goto err;
-		}
 	}
 
-	if (proc_init()) {
+	if (proc_init())
 		goto err;
-	}
 
-	if (proc()) {
+	if (proc())
 		goto err;
-	}
 
 
 err:
 	prj_error_handle();
 err_clk:
-	stuck_forever(false);
+	stuck_forever(STUCK_4EVER_LED_STATE);
 }
 
 
@@ -142,6 +148,8 @@ static	int		sysclk_config	(void)
 		return	sysclk_config_pll_hsi();
 	case PROJECT_SYSCLK_FROM_PLL_MSI:
 		return	sysclk_config_pll_msi();
+	default:
+		return	ERROR_NOK;
 	}
 }
 
@@ -178,15 +186,13 @@ static	int		proc		(void)
 static	noreturn void	stuck_forever	(bool led)
 {
 
-	if (led) {
+	if (led)
 		led_set();
-	} else {
+	else
 		led_reset();
-	}
 
-	while (true) {
+	while (true)
 		__WFI();
-	}
 }
 
 
diff --git a/stm32l4-modules b/stm32l4-modules
-Subproject 4381e1c9b157d4ebfcf71b7cfff2df6efbcfd2b
+Subproject b79f4ce88568eca1b1c089d9c3d8b86bbcab8f6