ll40ls: astyle

src/drivers/ll40ls/LidarLite.h

@@ -38,7 +38,7 @@
  *
  * Generic interface driver for the PulsedLight Lidar-Lite range finders.
  */
- #pragma once
+#pragma once
 
 #include <drivers/device/device.h>
 #include <drivers/drv_range_finder.h>

src/drivers/ll40ls/LidarLiteI2C.cpp

@@ -156,8 +156,8 @@ int LidarLiteI2C::probe()
 	// more retries for detection
 	_retries = 10;
 
-    for (uint8_t i=0; i<sizeof(addresses); i++) {
+	for (uint8_t i = 0; i < sizeof(addresses); i++) {
-        uint8_t who_am_i=0, max_acq_count=0;
+		uint8_t who_am_i = 0, max_acq_count = 0;
 
 		// set the I2C bus address
 		set_address(addresses[i]);
@@ -194,7 +194,7 @@ ok:
 
 int LidarLiteI2C::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
-    switch(cmd) {
+	switch (cmd) {
 	case SENSORIOCSQUEUEDEPTH: {
 			/* lower bound is mandatory, upper bound is a sanity check */
 			if ((arg < 1) || (arg > 100)) {
@@ -216,11 +216,10 @@ int LidarLiteI2C::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGQUEUEDEPTH:
 		return _reports->size();
 
-        default:
+	default: {
-        {
 			int result = LidarLite::ioctl(filp, cmd, arg);
 
-            if(result == -EINVAL) {
+			if (result == -EINVAL) {
 				result = I2C::ioctl(filp, cmd, arg);
 			}
 
@@ -308,12 +307,14 @@ int LidarLiteI2C::measure()
 	if (OK != ret) {
 		perf_count(_comms_errors);
 		debug("i2c::transfer returned %d", ret);
+
 		// if we are getting lots of I2C transfer errors try
 		// resetting the sensor
 		if (perf_event_count(_comms_errors) % 10 == 0) {
 			perf_count(_sensor_resets);
 			reset_sensor();
 		}
+
 		return ret;
 	}
 
@@ -344,18 +345,23 @@ void LidarLiteI2C::print_registers()
 	printf("ll40ls registers\n");
 	// wait for a while to ensure the lidar is in a ready state
 	usleep(50000);
-    for (uint8_t reg=0; reg<=0x67; reg++) {
+
+	for (uint8_t reg = 0; reg <= 0x67; reg++) {
 		uint8_t val = 0;
 		int ret = transfer(&reg, 1, &val, 1);
+
 		if (ret != OK) {
-            printf("%02x:XX ",(unsigned)reg);
+			printf("%02x:XX ", (unsigned)reg);
+
 		} else {
-            printf("%02x:%02x ",(unsigned)reg, (unsigned)val);
+			printf("%02x:%02x ", (unsigned)reg, (unsigned)val);
 		}
+
 		if (reg % 16 == 15) {
 			printf("\n");
 		}
 	}
+
 	printf("\n");
 	_pause_measurements = false;
 }
@@ -382,11 +388,13 @@ int LidarLiteI2C::collect()
 			 */
 			debug("error reading from sensor: %d", ret);
 			perf_count(_comms_errors);
+
 			if (perf_event_count(_comms_errors) % 10 == 0) {
 				perf_count(_sensor_resets);
 				reset_sensor();
 			}
 		}
+
 		perf_end(_sample_perf);
 		// if we are getting lots of I2C transfer errors try
 		// resetting the sensor
@@ -399,6 +407,7 @@ int LidarLiteI2C::collect()
 
 	if (distance == 0) {
 		_zero_counter++;
+
 		if (_zero_counter == 20) {
 			/* we have had 20 zeros in a row - reset the
 			   sensor. This is a known bad state of the
@@ -412,6 +421,7 @@ int LidarLiteI2C::collect()
 			perf_count(_sensor_zero_resets);
 			return reset_sensor();
 		}
+
 	} else {
 		_zero_counter = 0;
 	}
@@ -424,10 +434,11 @@ int LidarLiteI2C::collect()
 	report.distance = si_units;
 	report.minimum_distance = get_minimum_distance();
 	report.maximum_distance = get_maximum_distance();
+
 	if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
 		report.valid = 1;
-    }
+
-    else {
+	} else {
 		report.valid = 0;
 	}
 
@@ -495,11 +506,13 @@ void LidarLiteI2C::cycle()
 		/* try a collection */
 		if (OK != collect()) {
 			debug("collection error");
+
 			/* if we've been waiting more than 200ms then
 			   send a new acquire */
-            if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT*2) {
+			if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT * 2) {
 				_collect_phase = false;
 			}
+
 		} else {
 			/* next phase is measurement */
 			_collect_phase = false;
@@ -525,6 +538,7 @@ void LidarLiteI2C::cycle()
 		/* measurement phase */
 		if (OK != measure()) {
 			debug("measure error");
+
 		} else {
 			/* next phase is collection. Don't switch to
 			   collection phase until we have a successful

src/drivers/ll40ls/LidarLitePWM.cpp

@@ -61,7 +61,7 @@ int LidarLitePWM::init()
 {
 	_pwmSub = orb_subscribe(ORB_ID(pwm_input));
 
-    if(_pwmSub == -1) {
+	if (_pwmSub == -1) {
 		return ERROR;
 	}
 
@@ -108,7 +108,7 @@ int LidarLitePWM::measure()
 	_range.valid = true;
 
 	//TODO: due to a bug in older versions of the LidarLite firmware, we have to reset sensor on (distance == 0)
-    if(_range.distance <= 0.0f) {
+	if (_range.distance <= 0.0f) {
 		_range.valid = false;
 		_range.error_count++;
 		result = ERROR;
@@ -124,14 +124,15 @@ int LidarLitePWM::collect()
 	//Check PWM
 	bool update;
 	orb_check(_pwmSub, &update);
-    if(update) {
+
+	if (update) {
 		orb_copy(ORB_ID(pwm_input), _pwmSub, &_pwm);
 		_range.timestamp = hrt_absolute_time();
 		return OK;
 	}
 
 	//Timeout readings after 0.2 seconds and mark as invalid
-    if(hrt_absolute_time() - _range.timestamp > LL40LS_CONVERSION_TIMEOUT*2) {
+	if (hrt_absolute_time() - _range.timestamp > LL40LS_CONVERSION_TIMEOUT * 2) {
 		_range.timestamp = hrt_absolute_time();
 		_range.valid = false;
 		orb_publish(ORB_ID(sensor_range_finder), _rangePub, &_range);

src/drivers/ll40ls/ll40ls.cpp

@@ -90,12 +90,16 @@ void start(int bus)
 {
 	/* create the driver, attempt expansion bus first */
 	if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
-		if (g_dev_ext != nullptr)
+		if (g_dev_ext != nullptr) {
 			errx(0, "already started external");
+		}
+
 		g_dev_ext = new LidarLiteI2C(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT);
+
 		if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
 			delete g_dev_ext;
 			g_dev_ext = nullptr;
+
 			if (bus == PX4_I2C_BUS_EXPANSION) {
 				goto fail;
 			}
@@ -103,11 +107,15 @@ void start(int bus)
 	}
 
 #ifdef PX4_I2C_BUS_ONBOARD
+
 	/* if this failed, attempt onboard sensor */
 	if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
-		if (g_dev_int != nullptr)
+		if (g_dev_int != nullptr) {
 			errx(0, "already started internal");
+		}
+
 		g_dev_int = new LidarLiteI2C(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT);
+
 		if (g_dev_int != nullptr && OK != g_dev_int->init()) {
 			/* tear down the failing onboard instance */
 			delete g_dev_int;
@@ -117,20 +125,25 @@ void start(int bus)
 				goto fail;
 			}
 		}
+
 		if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
 			goto fail;
 		}
 	}
+
 #endif
 
 	/* set the poll rate to default, starts automatic data collection */
 	if (g_dev_int != nullptr) {
 		int fd = open(LL40LS_DEVICE_PATH_INT, O_RDONLY);
+
 		if (fd == -1) {
 			goto fail;
 		}
+
 		int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
 		close(fd);
+
 		if (ret < 0) {
 			goto fail;
 		}
@@ -138,11 +151,14 @@ void start(int bus)
 
 	if (g_dev_ext != nullptr) {
 		int fd = open(LL40LS_DEVICE_PATH_EXT, O_RDONLY);
+
 		if (fd == -1) {
 			goto fail;
 		}
+
 		int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
 		close(fd);
+
 		if (ret < 0) {
 			goto fail;
 		}
@@ -151,10 +167,12 @@ void start(int bus)
 	exit(0);
 
 fail:
+
 	if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
 		delete g_dev_int;
 		g_dev_int = nullptr;
 	}
+
 	if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
 		delete g_dev_ext;
 		g_dev_ext = nullptr;
@@ -168,7 +186,8 @@ fail:
  */
 void stop(int bus)
 {
-	LidarLiteI2C **g_dev = (bus == PX4_I2C_BUS_ONBOARD?&g_dev_int:&g_dev_ext);
+	LidarLiteI2C **g_dev = (bus == PX4_I2C_BUS_ONBOARD ? &g_dev_int : &g_dev_ext);
+
 	if (*g_dev != nullptr) {
 		delete *g_dev;
 		*g_dev = nullptr;
@@ -191,7 +210,7 @@ test(int bus)
 	struct range_finder_report report;
 	ssize_t sz;
 	int ret;
-	const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
+	const char *path = (bus == PX4_I2C_BUS_ONBOARD ? LL40LS_DEVICE_PATH_INT : LL40LS_DEVICE_PATH_EXT);
 
 	int fd = open(path, O_RDONLY);
 
@@ -254,7 +273,7 @@ test(int bus)
 void
 reset(int bus)
 {
-	const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
+	const char *path = (bus == PX4_I2C_BUS_ONBOARD ? LL40LS_DEVICE_PATH_INT : LL40LS_DEVICE_PATH_EXT);
 	int fd = open(path, O_RDONLY);
 
 	if (fd < 0) {
@@ -278,7 +297,8 @@ reset(int bus)
 void
 info(int bus)
 {
-	LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
+	LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
+
 	if (g_dev == nullptr) {
 		errx(1, "driver not running");
 	}
@@ -295,7 +315,8 @@ info(int bus)
 void
 regdump(int bus)
 {
-	LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
+	LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
+
 	if (g_dev == nullptr) {
 		errx(1, "driver not running");
 	}
@@ -328,13 +349,16 @@ ll40ls_main(int argc, char *argv[])
 	while ((ch = getopt(argc, argv, "XI")) != EOF) {
 		switch (ch) {
 #ifdef PX4_I2C_BUS_ONBOARD
+
 		case 'I':
 			bus = PX4_I2C_BUS_ONBOARD;
 			break;
 #endif
+
 		case 'X':
 			bus = PX4_I2C_BUS_EXPANSION;
 			break;
+
 		default:
 			ll40ls::usage();
 			exit(0);