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Major formatting/whitespace cleanup

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This commit is contained in:
px4dev
2012-10-23 23:51:13 -07:00
parent 34f99c7dca
commit 2fc1032069
50 changed files with 1112 additions and 810 deletions
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apps/drivers/hmc5883/hmc5883.cpp
+48 -11
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@@ -332,13 +332,16 @@ HMC5883::init()
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct mag_report[_num_reports];
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* get a publish handle on the mag topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
@@ -358,30 +361,37 @@ int HMC5883::set_range(unsigned range)
range_bits = 0x00;
_range_scale = 1.0f / 1370.0f;
_range_ga = 0.88f;
} else if (range <= 1) {
range_bits = 0x01;
_range_scale = 1.0f / 1090.0f;
_range_ga = 1.3f;
} else if (range <= 2) {
range_bits = 0x02;
_range_scale = 1.0f / 820.0f;
_range_ga = 1.9f;
} else if (range <= 3) {
range_bits = 0x03;
_range_scale = 1.0f / 660.0f;
_range_ga = 2.5f;
} else if (range <= 4) {
range_bits = 0x04;
_range_scale = 1.0f / 440.0f;
_range_ga = 4.0f;
} else if (range <= 4.7f) {
range_bits = 0x05;
_range_scale = 1.0f / 390.0f;
_range_ga = 4.7f;
} else if (range <= 5.6f) {
range_bits = 0x06;
_range_scale = 1.0f / 330.0f;
_range_ga = 5.6f;
} else {
range_bits = 0x07;
_range_scale = 1.0f / 230.0f;
@@ -413,10 +423,12 @@ HMC5883::probe()
uint8_t data[3] = {0, 0, 0};
_retries = 10;
if (read_reg(ADDR_ID_A, data[0]) ||
read_reg(ADDR_ID_B, data[1]) ||
read_reg(ADDR_ID_C, data[2]))
debug("read_reg fail");
_retries = 1;
if ((data[0] != ID_A_WHO_AM_I) ||
@@ -552,6 +564,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
@@ -666,7 +679,7 @@ HMC5883::cycle()
if (_measure_ticks > USEC2TICK(HMC5883_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
work_queue(HPWORK,
&_work,
(worker_t)&HMC5883::cycle_trampoline,
this,
@@ -684,7 +697,7 @@ HMC5883::cycle()
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
work_queue(HPWORK,
&_work,
(worker_t)&HMC5883::cycle_trampoline,
this,
@@ -850,7 +863,8 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
warnx("starting mag scale calibration");
/* do a simple demand read */
sz = read(filp, (char*)&report, sizeof(report));
sz = read(filp, (char *)&report, sizeof(report));
if (sz != sizeof(report)) {
warn("immediate read failed");
ret = 1;
@@ -920,6 +934,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
if (sz != sizeof(report)) {
warn("periodic read failed");
goto out;
} else {
avg_excited[0] += report.x;
avg_excited[1] += report.y;
@@ -946,7 +961,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
scaling[2] = fabsf(1.08f / avg_excited[2]);
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
@@ -971,12 +986,15 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = OK;
out:
if (ret == OK) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration failed.");
}
out:
if (ret == OK) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration failed.");
}
return ret;
}
@@ -986,16 +1004,22 @@ int HMC5883::set_excitement(unsigned enable)
/* arm the excitement strap */
uint8_t conf_reg;
ret = read_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
if (((int)enable) < 0) {
conf_reg |= 0x01;
} else if (enable > 0) {
conf_reg |= 0x02;
} else {
conf_reg &= ~0x03;
}
ret = write_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
@@ -1087,17 +1111,22 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
@@ -1114,11 +1143,13 @@ test()
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
@@ -1167,7 +1198,7 @@ test()
* Basic idea:
*
* output = (ext field +- 1.1 Ga self-test) * scale factor
*
*
* and consequently:
*
* 1.1 Ga = (excited - normal) * scale factor
@@ -1207,6 +1238,7 @@ int calibrate()
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
@@ -1218,6 +1250,7 @@ int calibrate()
if (ret == OK) {
errx(0, "PASS");
} else {
errx(1, "FAIL");
}
@@ -1230,10 +1263,13 @@ void
reset()
{
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
@@ -1290,6 +1326,7 @@ hmc5883_main(int argc, char *argv[])
if (!strcmp(argv[1], "calibrate")) {
if (hmc5883::calibrate() == 0) {
errx(0, "calibration successful");
} else {
errx(1, "calibration failed");
}