whitespace/formatting

1 files changed, 26 insertions, 14 deletions

diff --git a/apps/px4io/dsm.c b/apps/px4io/dsm.c
index 2611f3a03..560ef47d9 100644
--- a/apps/px4io/dsm.c
+++ b/apps/px4io/dsm.c
@@ -47,7 +47,7 @@
 #include <termios.h>
 
 #include <systemlib/ppm_decode.h>
- 
+
 #include <drivers/drv_hrt.h>
 
 #define DEBUG
@@ -97,6 +97,7 @@ dsm_init(const char *device)
 		dsm_guess_format(true);
 
 		debug("DSM: ready");
+
 	} else {
 		debug("DSM: open failed");
 	}
@@ -118,7 +119,7 @@ dsm_input(void)
 	 * frame transmission time is ~1.4ms.
 	 *
 	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 5ms passes between calls, 
+	 * and if an interval of more than 5ms passes between calls,
 	 * the first byte we read will be the first byte of a frame.
 	 *
 	 * In the case where byte(s) are dropped from a frame, this also
@@ -126,6 +127,7 @@ dsm_input(void)
 	 * if we didn't drop bytes...
 	 */
 	now = hrt_absolute_time();
+
 	if ((now - last_rx_time) > 5000) {
 		if (partial_frame_count > 0) {
 			dsm_frame_drops++;
@@ -142,6 +144,7 @@ dsm_input(void)
 	/* if the read failed for any reason, just give up here */
 	if (ret < 1)
 		goto out;
+
 	last_rx_time = now;
 
 	/*
@@ -153,7 +156,7 @@ dsm_input(void)
 	 * If we don't have a full frame, return
 	 */
 	if (partial_frame_count < DSM_FRAME_SIZE)
-	 	goto out;
+		goto out;
 
 	/*
 	 * Great, it looks like we might have a frame.  Go ahead and
@@ -164,7 +167,7 @@ dsm_input(void)
 
 out:
 	/*
-	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked' 
+	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked'
 	 */
 	return (now - last_frame_time) < 200000;
 }
@@ -212,6 +215,7 @@ dsm_guess_format(bool reset)
 		/* if the channel decodes, remember the assigned number */
 		if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31))
 			cs10 |= (1 << channel);
+
 		if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31))
 			cs11 |= (1 << channel);
 
@@ -222,7 +226,7 @@ dsm_guess_format(bool reset)
 	if (samples++ < 5)
 		return;
 
-	/* 
+	/*
 	 * Iterate the set of sensible sniffed channel sets and see whether
 	 * decoding in 10 or 11-bit mode has yielded anything we recognise.
 	 *
@@ -233,7 +237,7 @@ dsm_guess_format(bool reset)
 	 *     See e.g. http://git.openpilot.org/cru/OPReview-116 for a discussion
 	 *     of this issue.
 	 */
-	static uint32_t masks[] = { 
+	static uint32_t masks[] = {
 		0x3f,	/* 6 channels (DX6) */
 		0x7f,	/* 7 channels (DX7) */
 		0xff,	/* 8 channels (DX8) */
@@ -247,14 +251,17 @@ dsm_guess_format(bool reset)
 
 		if (cs10 == masks[i])
 			votes10++;
+
 		if (cs11 == masks[i])
 			votes11++;
 	}
+
 	if ((votes11 == 1) && (votes10 == 0)) {
 		channel_shift = 11;
 		debug("DSM: detected 11-bit format");
 		return;
 	}
+
 	if ((votes10 == 1) && (votes11 == 0)) {
 		channel_shift = 10;
 		debug("DSM: detected 10-bit format");
@@ -270,13 +277,13 @@ static void
 dsm_decode(hrt_abstime frame_time)
 {
 
-/*
-	debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
-	      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
-	      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
-*/
 	/*
-	 * If we have lost signal for at least a second, reset the 
+		debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
+		      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
+		      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
+	*/
+	/*
+	 * If we have lost signal for at least a second, reset the
 	 * format guessing heuristic.
 	 */
 	if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
@@ -292,7 +299,7 @@ dsm_decode(hrt_abstime frame_time)
 	}
 
 	/*
-	 * The encoding of the first two bytes is uncertain, so we're 
+	 * The encoding of the first two bytes is uncertain, so we're
 	 * going to ignore them for now.
 	 *
 	 * Each channel is a 16-bit unsigned value containing either a 10-
@@ -322,9 +329,10 @@ dsm_decode(hrt_abstime frame_time)
 		/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
 		if (channel_shift == 11)
 			value /= 2;
+
 		value += 998;
 
-		/* 
+		/*
 		 * Store the decoded channel into the R/C input buffer, taking into
 		 * account the different ideas about channel assignement that we have.
 		 *
@@ -335,14 +343,18 @@ dsm_decode(hrt_abstime frame_time)
 		case 0:
 			channel = 2;
 			break;
+
 		case 1:
 			channel = 0;
 			break;
+
 		case 2:
 			channel = 1;
+
 		default:
 			break;
 		}
+
 		system_state.rc_channel_data[channel] = value;
 	}