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mechanical style fixups

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This commit is contained in:
px4dev
2012-08-14 08:47:04 -07:00
parent 92a1fab0fd
commit 34118c72ef
10 changed files with 84 additions and 67 deletions
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apps/drivers/drv_gpio.h
+2 -2
View File
@@ -40,10 +40,10 @@
#include <sys/ioctl.h>
/*
/*
* GPIO defines come from a board-specific header, as they are shared
* with board-specific logic.
*
*
* The board-specific header must define:
* GPIO_DEVICE_PATH
* GPIO_RESET
apps/drivers/drv_mixer.h
+6 -11
View File
@@ -71,8 +71,7 @@
#define MIXERIOCRESET _MIXERIOC(1)
/** simple channel scaler */
struct mixer_scaler_s
{
struct mixer_scaler_s {
float negative_scale;
float positive_scale;
float offset;
@@ -81,16 +80,14 @@ struct mixer_scaler_s
};
/** mixer input */
struct mixer_control_s
{
struct mixer_control_s {
uint8_t control_group; /**< group from which the input reads */
uint8_t control_index; /**< index within the control group */
struct mixer_scaler_s scaler; /**< scaling applied to the input before use */
};
/** simple mixer */
struct mixer_simple_s
{
struct mixer_simple_s {
uint8_t control_count; /**< number of inputs */
struct mixer_scaler_s output_scaler; /**< scaling for the output */
struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */
@@ -99,20 +96,18 @@ struct mixer_simple_s
#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
/**
* add a simple mixer in (struct mixer_simple_s *)arg
* add a simple mixer in (struct mixer_simple_s *)arg
*/
#define MIXERIOCADDSIMPLE _MIXERIOC(2)
/** multirotor output definition */
struct mixer_rotor_output_s
{
struct mixer_rotor_output_s {
float angle; /**< rotor angle clockwise from forward in radians */
float distance; /**< motor distance from centre in arbitrary units */
};
/** multirotor mixer */
struct mixer_multirotor_s
{
struct mixer_multirotor_s {
uint8_t rotor_count;
struct mixer_control_s controls[4]; /**< controls are roll, pitch, yaw, thrust */
struct mixer_rotor_output_s rotors[0]; /**< actual size of the array is set by rotor_count */
apps/drivers/mpu6000/mpu6000.cpp
+6 -4
View File
@@ -367,7 +367,7 @@ MPU6000::init()
// FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter)
write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
usleep(1000);
write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000¼/s
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); // Gyro scale 2000¼/s
usleep(1000);
// product-specific scaling
@@ -390,15 +390,16 @@ MPU6000::init()
case MPU6000_REV_D9:
case MPU6000_REV_D10:
// Accel scale 8g (4096 LSB/g)
write_reg(MPUREG_ACCEL_CONFIG,2<<3);
write_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
break;
}
usleep(1000);
// INT CFG => Interrupt on Data Ready
write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready
write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
usleep(1000);
write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
usleep(1000);
// Oscillator set
@@ -898,6 +899,7 @@ mpu6000_main(int argc, char *argv[])
g_dev = nullptr;
return -EIO;
}
return OK;
}