format

firmware/controllers/system/periodic_thread_controller.h

@@ -37,32 +37,32 @@ class PeriodicController : public ThreadController<TStackSize>
 {
 private:
 	// time in ChibiOS time units, see CH_CFG_ST_FREQUENCY
-    systime_t m_period;
-    
+	systime_t m_period;
+	
 protected:
-    /**
-     * The target period between calls to PeriodicTask.
-     */
+	/**
+	 * The target period between calls to PeriodicTask.
+	 */
 //    const float m_periodSeconds;
 
-    /**
-     * @brief Called before running the periodic task.  Optionally override this method to set up.
-     */
-    virtual void OnStarted() {};
+	/**
+	 * @brief Called before running the periodic task.  Optionally override this method to set up.
+	 */
+	virtual void OnStarted() {};
 
-    /**
-     * @brief Called periodically.  Override this method to do work for your controller.
-     */
-    virtual void PeriodicTask(efitick_t nowNt) = 0;
+	/**
+	 * @brief Called periodically.  Override this method to do work for your controller.
+	 */
+	virtual void PeriodicTask(efitick_t nowNt) = 0;
 
 private:
-    void ThreadTask() override final
-    {
-        OnStarted();
+	void ThreadTask() override final
+	{
+		OnStarted();
 
-        while(!chThdShouldTerminateX()) {
-            systime_t before = chVTGetSystemTime();
-            efitick_t nowNt = getTimeNowNt();
+		while(!chThdShouldTerminateX()) {
+			systime_t before = chVTGetSystemTime();
+			efitick_t nowNt = getTimeNowNt();
 
 			{
 				ScopePerf perf(PE::PeriodicControllerPeriodicTask);
@@ -71,38 +71,38 @@ class PeriodicController : public ThreadController<TStackSize>
 				PeriodicTask(nowNt);
 			}
 
-            // This ensures the loop _actually_ runs at the desired frequency.
-            // Suppose we want a loop speed of 500hz:
-            // If the work takes 1ms, and we wait 2ms (1 / 500hz), we actually
-            // get a loop at 333 hz.  We need to wait until 2ms after we START
-            // doing work, so the loop runs at a predictable 500hz.
-            chThdSleepUntilWindowed(before, before + m_period);
-        }
+			// This ensures the loop _actually_ runs at the desired frequency.
+			// Suppose we want a loop speed of 500hz:
+			// If the work takes 1ms, and we wait 2ms (1 / 500hz), we actually
+			// get a loop at 333 hz.  We need to wait until 2ms after we START
+			// doing work, so the loop runs at a predictable 500hz.
+			chThdSleepUntilWindowed(before, before + m_period);
+		}
 
 		firmwareError(ObdCode::OBD_PCM_Processor_Fault, "Thread died: %s", this->m_name);
 	}
 
 public:
-    PeriodicController(const char* name, tprio_t priority, float frequencyHz)
-        : ThreadController<TStackSize>(name, priority)
-        // First compute the period in systime_t
-        , m_period(CH_CFG_ST_FREQUENCY / frequencyHz)
-        // Then compute the float period off of the integer one to
-        //  get the ACTUAL period, which may be slightly different than requested.
+	PeriodicController(const char* name, tprio_t priority, float frequencyHz)
+		: ThreadController<TStackSize>(name, priority)
+		// First compute the period in systime_t
+		, m_period(CH_CFG_ST_FREQUENCY / frequencyHz)
+		// Then compute the float period off of the integer one to
+		//  get the ACTUAL period, which may be slightly different than requested.
 //        , m_periodSeconds(m_period / (float)CH_CFG_ST_FREQUENCY)
-    {
-    }
+	{
+	}
 
-    PeriodicController(const char* name) : PeriodicController (name, NORMALPRIO, 1) {
-    }
+	PeriodicController(const char* name) : PeriodicController (name, NORMALPRIO, 1) {
+	}
 
-    /**
-     * sets milliseconds period
-     */
-    void setPeriod(int periodMs) {
-    	float frequencyHz = 1000.0 / periodMs;
-    	this->m_period = CH_CFG_ST_FREQUENCY / frequencyHz;
-    }
+	/**
+	 * sets milliseconds period
+	 */
+	void setPeriod(int periodMs) {
+		float frequencyHz = 1000.0 / periodMs;
+		this->m_period = CH_CFG_ST_FREQUENCY / frequencyHz;
+	}
 };
 
 // let's make sure period is not below specified threshold