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fix code style

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This commit is contained in:
davidaroyer
2017-06-04 04:24:50 +08:00
committed by Lorenz Meier
parent 0de70af78d
commit 68983f7ee2
3 changed files with 50 additions and 42 deletions
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src/lib/rc/sbus.cpp
+13 -11
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@@ -159,11 +159,11 @@ sbus_config(int sbus_fd, bool singlewire)
{
#if defined(__PX4_POSIX_OCPOC)
struct termios options;
if (tcgetattr(sbus_fd, &options) != 0) {
return -1;
}
tcflush(sbus_fd, TCIFLUSH);
bzero(&options, sizeof(options));
@@ -182,24 +182,25 @@ sbus_config(int sbus_fd, bool singlewire)
cfsetospeed(&options, B38400);
tcflush(sbus_fd, TCIFLUSH);
if ((tcsetattr(sbus_fd, TCSANOW, &options)) != 0) {
return -1;
}
int baud = 100000;
struct serial_struct serials;
if ((ioctl(sbus_fd, TIOCGSERIAL, &serials)) < 0) {
return -1;
}
serials.flags = ASYNC_SPD_CUST;
serials.custom_divisor = serials.baud_base / baud;
if ((ioctl(sbus_fd, TIOCSSERIAL, &serials)) < 0) {
return -1;
}
ioctl(sbus_fd, TIOCGSERIAL, &serials);
tcflush(sbus_fd, TCIFLUSH);
@@ -293,16 +294,17 @@ sbus_input(int sbus_fd, uint16_t *values, uint16_t *num_values, bool *sbus_fails
ssize_t n;
uint8_t buf[SBUS_FRAME_SIZE * 4];
if ((n = read(sbus_fd, &buf[0], SBUS_FRAME_SIZE*4)) <= 0){
if ((n = read(sbus_fd, &buf[0], SBUS_FRAME_SIZE * 4)) <= 0) {
return false;
}
for (int i=0; i<n; i++) {
if (buf[i] == 0x0f && (i+24 < n) && buf[i+23] == 0x00) {
for (int i = 0; i < n; i++) {
if (buf[i] == 0x0f && (i + 24 < n) && buf[i + 23] == 0x00) {
memcpy(&sbus_frame[0], &buf[i], 25);
if (sbus_decode(now, sbus_frame, values, num_values, sbus_failsafe, sbus_frame_drop, max_channels)
&& *num_values >= 5) {
if (sbus_decode(now, sbus_frame, values, num_values, sbus_failsafe, sbus_frame_drop, max_channels)
&& *num_values >= 5) {
return true;
}
}