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LL40LS: Fixed code style

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This commit is contained in:
Lorenz Meier
2015-10-19 13:14:00 +02:00
parent ca4982a6e8
commit 9d670dd877
4 changed files with 32 additions and 17 deletions
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src/drivers/ll40ls/LidarLiteI2C.cpp
+10 -4
View File
@@ -132,7 +132,7 @@ int LidarLiteI2C::init()
measure();
_reports->get(&ds_report);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
@@ -165,12 +165,16 @@ int LidarLiteI2C::lidar_transfer(const uint8_t *send, unsigned send_len, uint8_t
{
if (send != NULL && send_len > 0) {
int ret = transfer(send, send_len, NULL, 0);
if (ret != OK)
if (ret != OK) {
return ret;
}
}
if (recv != NULL && recv_len > 0) {
return transfer(NULL, 0, recv, recv_len);
}
return OK;
}
@@ -345,8 +349,10 @@ int LidarLiteI2C::measure()
int LidarLiteI2C::reset_sensor()
{
int ret = write_reg(LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET);
if (ret != OK)
if (ret != OK) {
return ret;
}
// wait for sensor reset to complete
usleep(1000);
@@ -447,7 +453,7 @@ int LidarLiteI2C::collect()
}
_last_distance = distance_cm;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
src/drivers/ll40ls/LidarLiteI2C.h
+3 -3
View File
@@ -51,7 +51,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h>
/* Configuration Constants */
#define LL40LS_BUS PX4_I2C_BUS_EXPANSION
@@ -117,8 +117,8 @@ private:
uint16_t _zero_counter;
uint64_t _acquire_time_usec;
volatile bool _pause_measurements;
uint8_t _hw_version;
uint8_t _sw_version;
uint8_t _hw_version;
uint8_t _sw_version;
/**< the bus the device is connected to */
int _bus;
src/drivers/ll40ls/LidarLitePWM.cpp
+1 -1
View File
@@ -114,7 +114,7 @@ int LidarLitePWM::init()
measure();
_reports->get(&ds_report);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
src/drivers/ll40ls/ll40ls.cpp
+18 -9
View File
@@ -80,7 +80,7 @@ LidarLiteI2C *g_dev_int;
LidarLiteI2C *g_dev_ext;
LidarLitePWM *g_dev_pwm;
LidarLite * get_dev(const bool use_i2c, const int bus);
LidarLite *get_dev(const bool use_i2c, const int bus);
void start(const bool use_i2c, const int bus);
void stop(const bool use_i2c, const int bus);
void test(const bool use_i2c, const int bus);
@@ -92,19 +92,25 @@ void usage();
/**
* Get the correct device pointer
*/
LidarLite * get_dev(const bool use_i2c, const int bus) {
LidarLite * g_dev = nullptr;
LidarLite *get_dev(const bool use_i2c, const int bus)
{
LidarLite *g_dev = nullptr;
if (use_i2c) {
g_dev = static_cast<LidarLite*>(bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
g_dev = static_cast<LidarLite *>(bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "i2c driver not running");
}
} else {
g_dev = static_cast<LidarLite*>(g_dev_pwm);
g_dev = static_cast<LidarLite *>(g_dev_pwm);
if (g_dev == nullptr) {
errx(1, "pwm driver not running");
}
}
return g_dev;
};
@@ -114,7 +120,7 @@ LidarLite * get_dev(const bool use_i2c, const int bus) {
void start(const bool use_i2c, const int bus)
{
if (g_dev_int != nullptr || g_dev_ext != nullptr || g_dev_pwm != nullptr) {
errx(1,"driver already started");
errx(1, "driver already started");
}
if (use_i2c) {
@@ -254,18 +260,21 @@ void stop(const bool use_i2c, const int bus)
delete g_dev_int;
g_dev_int = nullptr;
}
} else {
if (g_dev_ext != nullptr) {
delete g_dev_ext;
g_dev_ext = nullptr;
}
}
} else {
if (g_dev_pwm != nullptr) {
delete g_dev_pwm;
g_dev_pwm = nullptr;
}
}
exit(0);
}
@@ -334,7 +343,7 @@ test(const bool use_i2c, const int bus)
warnx("periodic read %u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f m", (double)report.current_distance);
warnx("time: %lld", report.timestamp);
}
@@ -386,7 +395,7 @@ reset(const bool use_i2c, const int bus)
void
info(const bool use_i2c, const int bus)
{
LidarLite * g_dev = get_dev(use_i2c, bus);
LidarLite *g_dev = get_dev(use_i2c, bus);
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
@@ -398,7 +407,7 @@ info(const bool use_i2c, const int bus)
void
regdump(const bool use_i2c, const int bus)
{
LidarLite * g_dev = get_dev(use_i2c, bus);
LidarLite *g_dev = get_dev(use_i2c, bus);
printf("regdump @ %p\n", g_dev);
g_dev->print_registers();
exit(0);