coding style fixes, copyright waiver (#395)

Co-authored-by: Paulo Marques <[email protected]>

Author: pmarques-dev

pio/quadrature_encoder/quadrature_encoder.c

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2021-2023 pmarques-dev @ github
+ * Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
  *
  * SPDX-License-Identifier: BSD-3-Clause
  */

pio/quadrature_encoder/quadrature_encoder.pio

@@ -1,5 +1,5 @@
 ;
-; Copyright (c) 2021-2023 pmarques-dev @ github
+; Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
 ;
 ; SPDX-License-Identifier: BSD-3-Clause
 ;
@@ -26,63 +26,63 @@
 ; to sysclk / 10  (e.g., sysclk 125MHz, max step rate = 12.5 Msteps/sec)
 
 ; 00 state
-	JMP update	; read 00
-	JMP decrement	; read 01
-	JMP increment	; read 10
-	JMP update	; read 11
+    JMP update    ; read 00
+    JMP decrement ; read 01
+    JMP increment ; read 10
+    JMP update    ; read 11
 
 ; 01 state
-	JMP increment	; read 00
-	JMP update	; read 01
-	JMP update	; read 10
-	JMP decrement	; read 11
+    JMP increment ; read 00
+    JMP update    ; read 01
+    JMP update    ; read 10
+    JMP decrement ; read 11
 
 ; 10 state
-	JMP decrement	; read 00
-	JMP update	; read 01
-	JMP update	; read 10
-	JMP increment	; read 11
+    JMP decrement ; read 00
+    JMP update    ; read 01
+    JMP update    ; read 10
+    JMP increment ; read 11
 
 ; to reduce code size, the last 2 states are implemented in place and become the
 ; target for the other jumps
 
 ; 11 state
-	JMP update	; read 00
-	JMP increment	; read 01
+    JMP update    ; read 00
+    JMP increment ; read 01
 decrement:
-	; note: the target of this instruction must be the next address, so that
-	; the effect of the instruction does not depend on the value of Y. The
-	; same is true for the "JMP X--" below. Basically "JMP Y--, <next addr>"
-	; is just a pure "decrement Y" instruction, with no other side effects
-	JMP Y--, update	; read 10
+    ; note: the target of this instruction must be the next address, so that
+    ; the effect of the instruction does not depend on the value of Y. The
+    ; same is true for the "JMP X--" below. Basically "JMP Y--, <next addr>"
+    ; is just a pure "decrement Y" instruction, with no other side effects
+    JMP Y--, update ; read 10
 
-	; this is where the main loop starts
+    ; this is where the main loop starts
 .wrap_target
 update:
-	MOV ISR, Y
-	PUSH noblock
+    MOV ISR, Y      ; read 11
+    PUSH noblock
 
 sample_pins:
-	; we shift into ISR the last state of the 2 input pins (now in OSR) and
-	; the new state of the 2 pins, thus producing the 4 bit target for the
-	; computed jump into the correct action for this state. Both the PUSH
-	; above and the OUT below zero the other bits in ISR
-	OUT ISR, 2
-	IN PINS, 2
-
-	; save the state in the OSR, so that we can use ISR for other purposes
-	MOV OSR, ISR
-	; jump to the correct state machine action
-	MOV PC, ISR
-
-	; the PIO does not have a increment instruction, so to do that we do a
-	; negate, decrement, negate sequence
+    ; we shift into ISR the last state of the 2 input pins (now in OSR) and
+    ; the new state of the 2 pins, thus producing the 4 bit target for the
+    ; computed jump into the correct action for this state. Both the PUSH
+    ; above and the OUT below zero out the other bits in ISR
+    OUT ISR, 2
+    IN PINS, 2
+
+    ; save the state in the OSR, so that we can use ISR for other purposes
+    MOV OSR, ISR
+    ; jump to the correct state machine action
+    MOV PC, ISR
+
+    ; the PIO does not have a increment instruction, so to do that we do a
+    ; negate, decrement, negate sequence
 increment:
-	MOV Y, ~Y
-	JMP Y--, increment_cont
+    MOV Y, ~Y
+    JMP Y--, increment_cont
 increment_cont:
-	MOV Y, ~Y
-.wrap	; the .wrap here avoids one jump instruction and saves a cycle too
+    MOV Y, ~Y
+.wrap    ; the .wrap here avoids one jump instruction and saves a cycle too
 
 
 
@@ -97,46 +97,45 @@ increment_cont:
 
 static inline void quadrature_encoder_program_init(PIO pio, uint sm, uint pin, int max_step_rate)
 {
-	pio_sm_set_consecutive_pindirs(pio, sm, pin, 2, false);
-	gpio_pull_up(pin);
-	gpio_pull_up(pin + 1);
-
-	pio_sm_config c = quadrature_encoder_program_get_default_config(0);
-
-	sm_config_set_in_pins(&c, pin); // for WAIT, IN
-	sm_config_set_jmp_pin(&c, pin); // for JMP
-	// shift to left, autopull disabled
-	sm_config_set_in_shift(&c, false, false, 32);
-	// don't join FIFO's
-	sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_NONE);
-
-	// passing "0" as the sample frequency,
-	if (max_step_rate == 0) {
-		sm_config_set_clkdiv(&c, 1.0);
-	} else {
-		// one state machine loop takes at most 10 cycles
-		float div = (float)clock_get_hz(clk_sys) / (10 * max_step_rate);
-		sm_config_set_clkdiv(&c, div);
-	}
-
-	pio_sm_init(pio, sm, 0, &c);
-	pio_sm_set_enabled(pio, sm, true);
+    pio_sm_set_consecutive_pindirs(pio, sm, pin, 2, false);
+    gpio_pull_up(pin);
+    gpio_pull_up(pin + 1);
+
+    pio_sm_config c = quadrature_encoder_program_get_default_config(0);
+
+    sm_config_set_in_pins(&c, pin); // for WAIT, IN
+    sm_config_set_jmp_pin(&c, pin); // for JMP
+    // shift to left, autopull disabled
+    sm_config_set_in_shift(&c, false, false, 32);
+    // don't join FIFO's
+    sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_NONE);
+
+    // passing "0" as the sample frequency,
+    if (max_step_rate == 0) {
+        sm_config_set_clkdiv(&c, 1.0);
+    } else {
+        // one state machine loop takes at most 10 cycles
+        float div = (float)clock_get_hz(clk_sys) / (10 * max_step_rate);
+        sm_config_set_clkdiv(&c, div);
+    }
+
+    pio_sm_init(pio, sm, 0, &c);
+    pio_sm_set_enabled(pio, sm, true);
 }
 
 static inline int32_t quadrature_encoder_get_count(PIO pio, uint sm)
 {
-	uint ret;
-	int n;
-
-	// if the FIFO has N entries, we fetch them to drain the FIFO,
-	// plus one entry which will be guaranteed to not be stale
-	n = pio_sm_get_rx_fifo_level(pio, sm) + 1;
-	while (n > 0) {
-		ret = pio_sm_get_blocking(pio, sm);
-		n--;
-	}
-	return ret;
+    uint ret;
+    int n;
+
+    // if the FIFO has N entries, we fetch them to drain the FIFO,
+    // plus one entry which will be guaranteed to not be stale
+    n = pio_sm_get_rx_fifo_level(pio, sm) + 1;
+    while (n > 0) {
+        ret = pio_sm_get_blocking(pio, sm);
+        n--;
+    }
+    return ret;
 }
 
 %}
-