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Airspeed ETS: fix code style

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This commit is contained in:
Lorenz Meier 2015-08-23 10:48:58 +02:00
parent dcf7b81f83
commit bac89be4b9
1 changed files with 50 additions and 27 deletions
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77
src/drivers/ets_airspeed/ets_airspeed.cpp
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@ -94,7 +94,7 @@
class ETSAirspeed : public Airspeed
{
public:
ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH);
ETSAirspeed(int bus, int address = I2C_ADDRESS, const char *path = ETS_PATH);
protected:
@ -113,8 +113,8 @@ protected:
*/
extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path)
ETSAirspeed::ETSAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path)
{
}
@ -155,15 +155,16 @@ ETSAirspeed::collect()
}
uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
if (diff_pres_pa_raw == 0) {
if (diff_pres_pa_raw == 0) {
// a zero value means the pressure sensor cannot give us a
// value. We need to return, and not report a value or the
// caller could end up using this value as part of an
// average
perf_count(_comms_errors);
log("zero value from sensor");
log("zero value from sensor");
return -1;
}
}
// The raw value still should be compensated for the known offset
diff_pres_pa_raw -= _diff_pres_offset;
@ -175,7 +176,7 @@ ETSAirspeed::collect()
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.error_count = perf_event_count(_comms_errors);
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = diff_pres_pa_raw;
@ -210,6 +211,7 @@ ETSAirspeed::cycle()
/* perform collection */
ret = collect();
if (OK != ret) {
perf_count(_comms_errors);
/* restart the measurement state machine */
@ -239,6 +241,7 @@ ETSAirspeed::cycle()
/* measurement phase */
ret = measure();
if (OK != ret) {
debug("measure error");
}
@ -287,26 +290,31 @@ start(int i2c_bus)
{
int fd;
if (g_dev != nullptr)
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new ETSAirspeed(i2c_bus);
if (g_dev == nullptr)
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->Airspeed::init())
if (OK != g_dev->Airspeed::init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(AIRSPEED0_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
@ -351,21 +359,24 @@ test()
int fd = open(ETS_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'ets_airspeed start' if the driver is not running", ETS_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@ -376,22 +387,25 @@ test()
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
}
/* reset the sensor polling to its default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default rate");
}
errx(0, "PASS");
}
@ -404,14 +418,17 @@ reset()
{
int fd = open(ETS_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
@ -422,8 +439,9 @@ reset()
void
info()
{
if (g_dev == nullptr)
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
@ -462,32 +480,37 @@ ets_airspeed_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
if (!strcmp(argv[1], "start")) {
ets_airspeed::start(i2c_bus);
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
if (!strcmp(argv[1], "stop")) {
ets_airspeed::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(argv[1], "test")) {
ets_airspeed::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(argv[1], "reset")) {
ets_airspeed::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
ets_airspeed::info();
}
ets_airspeed_usage();
exit(0);