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PX4IO driver: Fix code style

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This commit is contained in:
Lorenz Meier
2015-09-06 12:05:37 +02:00
parent 28bbbd1563
commit 8421d51d5e
4 changed files with 527 additions and 273 deletions
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src/drivers/px4io/px4io_uploader.cpp
+54 -17
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@@ -126,8 +126,10 @@ PX4IO_Uploader::upload(const char *filenames[])
/* look for the bootloader for 150 ms */
for (int i = 0; i < 15; i++) {
ret = sync();
if (ret == OK) {
break;
} else {
usleep(10000);
}
@@ -143,6 +145,7 @@ PX4IO_Uploader::upload(const char *filenames[])
}
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
tcsetattr(_io_fd, TCSANOW, &t_original);
@@ -150,6 +153,7 @@ PX4IO_Uploader::upload(const char *filenames[])
_io_fd = -1;
return -errno;
}
fw_size = st.st_size;
if (_fw_fd == -1) {
@@ -180,6 +184,7 @@ PX4IO_Uploader::upload(const char *filenames[])
if (ret == OK) {
if (bl_rev <= BL_REV) {
log("found bootloader revision: %d", bl_rev);
} else {
log("found unsupported bootloader revision %d, exiting", bl_rev);
tcsetattr(_io_fd, TCSANOW, &t_original);
@@ -205,6 +210,7 @@ PX4IO_Uploader::upload(const char *filenames[])
if (bl_rev <= 2) {
ret = verify_rev2(fw_size);
} else {
/* verify rev 3 and higher. Every version *needs* to be verified. */
ret = verify_rev3(fw_size);
@@ -240,7 +246,7 @@ PX4IO_Uploader::upload(const char *filenames[])
// sleep for enough time for the IO chip to boot. This makes
// forceupdate more reliably startup IO again after update
up_udelay(100*1000);
up_udelay(100 * 1000);
return ret;
}
@@ -274,12 +280,15 @@ int
PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count)
{
int ret = OK;
while (count--) {
ret = recv_byte_with_timeout(p++, 5000);
if (ret != OK)
if (ret != OK) {
break;
}
}
return ret;
}
@@ -296,9 +305,11 @@ PX4IO_Uploader::drain()
ret = recv_byte_with_timeout(&c, 40);
#ifdef UDEBUG
if (ret == OK) {
log("discard 0x%02x", c);
}
#endif
} while (ret == OK);
}
@@ -309,8 +320,11 @@ PX4IO_Uploader::send(uint8_t c)
#ifdef UDEBUG
log("send 0x%02x", c);
#endif
if (write(_io_fd, &c, 1) != 1)
if (write(_io_fd, &c, 1) != 1) {
return -errno;
}
return OK;
}
@@ -318,11 +332,15 @@ int
PX4IO_Uploader::send(uint8_t *p, unsigned count)
{
int ret;
while (count--) {
ret = send(*p++);
if (ret != OK)
if (ret != OK) {
break;
}
}
return ret;
}
@@ -334,13 +352,15 @@ PX4IO_Uploader::get_sync(unsigned timeout)
ret = recv_byte_with_timeout(c, timeout);
if (ret != OK)
if (ret != OK) {
return ret;
}
ret = recv_byte_with_timeout(c + 1, timeout);
if (ret != OK)
if (ret != OK) {
return ret;
}
if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
log("bad sync 0x%02x,0x%02x", c[0], c[1]);
@@ -356,8 +376,9 @@ PX4IO_Uploader::sync()
drain();
/* complete any pending program operation */
for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++) {
send(0);
}
send(PROTO_GET_SYNC);
send(PROTO_EOC);
@@ -375,8 +396,9 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
ret = recv_bytes((uint8_t *)&val, sizeof(val));
if (ret != OK)
if (ret != OK) {
return ret;
}
return get_sync();
}
@@ -395,14 +417,17 @@ static int read_with_retry(int fd, void *buf, size_t n)
{
int ret;
uint8_t retries = 0;
do {
ret = read(fd, buf, n);
} while (ret == -1 && retries++ < 100);
if (retries != 0) {
printf("read of %u bytes needed %u retries\n",
(unsigned)n,
(unsigned)retries);
}
return ret;
}
@@ -415,6 +440,7 @@ PX4IO_Uploader::program(size_t fw_size)
size_t sent = 0;
file_buf = new uint8_t[PROG_MULTI_MAX];
if (!file_buf) {
log("Can't allocate program buffer");
return -ENOMEM;
@@ -430,13 +456,15 @@ PX4IO_Uploader::program(size_t fw_size)
while (sent < fw_size) {
/* get more bytes to program */
size_t n = fw_size - sent;
if (n > PROG_MULTI_MAX) {
n = PROG_MULTI_MAX;
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
@@ -478,32 +506,37 @@ PX4IO_Uploader::verify_rev2(size_t fw_size)
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
if (ret != OK) {
return ret;
}
while (sent < fw_size) {
/* get more bytes to verify */
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
if (count == 0) {
break;
}
sent += count;
if (count < 0)
if (count < 0) {
return -errno;
}
ASSERT((count % 4) == 0);
@@ -564,13 +597,15 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local)
/* read through the firmware file again and calculate the checksum*/
while (bytes_read < fw_size_local) {
size_t n = fw_size_local - bytes_read;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)bytes_read,
(int)count,
@@ -581,9 +616,11 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local)
if (count == 0) {
break;
}
/* stop if the file cannot be read */
if (count < 0)
if (count < 0) {
return -errno;
}
/* calculate crc32 sum */
sum = crc32part((uint8_t *)&file_buf, sizeof(file_buf), sum);
@@ -601,7 +638,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local)
send(PROTO_GET_CRC);
send(PROTO_EOC);
ret = recv_bytes((uint8_t*)(&crc), sizeof(crc));
ret = recv_bytes((uint8_t *)(&crc), sizeof(crc));
if (ret != OK) {
log("did not receive CRC checksum");
@@ -621,7 +658,7 @@ int
PX4IO_Uploader::reboot()
{
send(PROTO_REBOOT);
up_udelay(100*1000); // Ensure the farend is in wait for char.
up_udelay(100 * 1000); // Ensure the farend is in wait for char.
send(PROTO_EOC);
return OK;