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MD25: Fix code style

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This commit is contained in:
Lorenz Meier
2015-09-05 22:07:15 +02:00
parent ebfae73108
commit 3ded4efb5a
2 changed files with 22 additions and 19 deletions
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src/drivers/md25/md25.cpp
+14 -12
View File
@@ -333,7 +333,7 @@ void MD25::update()
// check for exit condition every second
// note "::poll" is required to distinguish global
// poll from member function for driver
if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
if (::poll(&_controlPoll, 1, 1000) < 0) { return; } // poll error
// if new data, send to motors
if (_actuators.updated()) {
@@ -350,7 +350,7 @@ int MD25::probe()
int ret = OK;
// try initial address first, if good, then done
if (readData() == OK) return ret;
if (readData() == OK) { return ret; }
// try all other addresses
uint8_t testAddress = 0;
@@ -451,9 +451,9 @@ float MD25::_uint8ToNorm(uint8_t value)
uint8_t MD25::_normToUint8(float value)
{
if (value > 1) value = 1;
if (value > 1) { value = 1; }
if (value < -1) value = -1;
if (value < -1) { value = -1; }
// TODO, should go from 0 to 255
// possibly should handle this differently
@@ -494,7 +494,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor1Speed(0);
@@ -514,7 +514,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor1Speed(0);
@@ -536,7 +536,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor2Speed(0);
@@ -556,7 +556,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor2Speed(0);
@@ -592,13 +592,14 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
// sine wave for motor 1
md25.resetEncoders();
while (true) {
// input
uint64_t timestamp = hrt_absolute_time();
float t = timestamp/1000000.0f;
float t = timestamp / 1000000.0f;
float input_value = amplitude*sinf(2*M_PI*frequency*t);
float input_value = amplitude * sinf(2 * M_PI * frequency * t);
md25.setMotor1Speed(input_value);
// output
@@ -613,11 +614,11 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
// send output message
strncpy(debug_msg.key, "md25 out ", 10);
debug_msg.timestamp_ms = 1000*timestamp;
debug_msg.timestamp_ms = 1000 * timestamp;
debug_msg.value = current_revolution;
debug_msg.update();
if (t > t_final) break;
if (t > t_final) { break; }
// update for next step
prev_revolution = current_revolution;
@@ -625,6 +626,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
// sleep
usleep(1000000 * dt);
}
md25.setMotor1Speed(0);
printf("md25 sine complete\n");
src/drivers/md25/md25_main.cpp
+8 -7
View File
@@ -79,8 +79,9 @@ static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
if (reason) {
fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
exit(1);
@@ -111,11 +112,11 @@ int md25_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("md25",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
md25_thread_main,
(const char **)argv);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
md25_thread_main,
(const char **)argv);
exit(0);
}
@@ -206,7 +207,7 @@ int md25_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "search")) {
if (argc < 3) {