diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-28 13:10:39 +0100 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-28 13:10:39 +0100 |
commit | 1418254fca7ec97ea2b502ce227a77a6957424b9 (patch) | |
tree | 7a11cdd1c7e272ec023cea3cce118eede529073d /src/drivers/px4flow | |
parent | 8a0ad6075cc7f456c6ed34b44706009a1c5a4a9a (diff) | |
download | px4-firmware-1418254fca7ec97ea2b502ce227a77a6957424b9.tar.gz px4-firmware-1418254fca7ec97ea2b502ce227a77a6957424b9.tar.bz2 px4-firmware-1418254fca7ec97ea2b502ce227a77a6957424b9.zip |
Formatting fixes
Diffstat (limited to 'src/drivers/px4flow')
-rw-r--r-- | src/drivers/px4flow/px4flow.cpp | 104 |
1 files changed, 63 insertions, 41 deletions
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 29f26cab9..96c0b720c 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -129,30 +129,32 @@ public: PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS); virtual ~PX4FLOW(); - virtual int init(); + virtual int init(); - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); /** * Diagnostics - print some basic information about the driver. */ - void print_info(); + void print_info(); protected: - virtual int probe(); + virtual int probe(); private: - work_s _work; - RingBuffer *_reports; bool _sensor_ok; - int _measure_ticks; bool _collect_phase; + work_s _work; + RingBuffer *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; - orb_advert_t _px4flow_topic; + orb_advert_t _px4flow_topic; - perf_counter_t _sample_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; /** * Test whether the device supported by the driver is present at a @@ -161,7 +163,7 @@ private: * @param address The I2C bus address to probe. * @return True if the device is present. */ - int probe_address(uint8_t address); + int probe_address(uint8_t address); /** * Initialise the automatic measurement state machine and start it. @@ -169,27 +171,27 @@ private: * @note This function is called at open and error time. It might make sense * to make it more aggressive about resetting the bus in case of errors. */ - void start(); + void start(); /** * Stop the automatic measurement state machine. */ - void stop(); + void stop(); /** * Perform a poll cycle; collect from the previous measurement * and start a new one. */ - void cycle(); - int measure(); - int collect(); + void cycle(); + int measure(); + int collect(); /** * Static trampoline from the workq context; because we don't have a * generic workq wrapper yet. * * @param arg Instance pointer for the driver that is polling. */ - static void cycle_trampoline(void *arg); + static void cycle_trampoline(void *arg); }; @@ -200,11 +202,14 @@ extern "C" __EXPORT int px4flow_main(int argc, char *argv[]); PX4FLOW::PX4FLOW(int bus, int address) : I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz - _reports(nullptr), _sensor_ok(false), _measure_ticks(0), _collect_phase( - false), _px4flow_topic(-1), _sample_perf( - perf_alloc(PC_ELAPSED, "px4flow_read")), _comms_errors( - perf_alloc(PC_COUNT, "px4flow_comms_errors")), _buffer_overflows( - perf_alloc(PC_COUNT, "px4flow_buffer_overflows")) + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _px4flow_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")), + _comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")) { // enable debug() calls _debug_enabled = true; @@ -224,7 +229,8 @@ PX4FLOW::~PX4FLOW() } } -int PX4FLOW::init() +int +PX4FLOW::init() { int ret = ERROR; @@ -246,7 +252,8 @@ int PX4FLOW::init() out: return ret; } -int PX4FLOW::probe() +int +PX4FLOW::probe() { uint8_t val[22]; @@ -262,7 +269,8 @@ int PX4FLOW::probe() return measure(); } -int PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) +int +PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { @@ -363,7 +371,8 @@ int PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) } } -ssize_t PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) +ssize_t +PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) { unsigned count = buflen / sizeof(struct optical_flow_s); struct optical_flow_s *rbuf = @@ -426,7 +435,8 @@ ssize_t PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) return ret; } -int PX4FLOW::measure() +int +PX4FLOW::measure() { int ret; @@ -448,7 +458,8 @@ int PX4FLOW::measure() return ret; } -int PX4FLOW::collect() +int +PX4FLOW::collect() { int ret = -EIO; @@ -562,7 +573,8 @@ int PX4FLOW::collect() return ret; } -void PX4FLOW::start() +void +PX4FLOW::start() { /* reset the report ring and state machine */ _collect_phase = false; @@ -588,19 +600,22 @@ void PX4FLOW::start() } } -void PX4FLOW::stop() +void +PX4FLOW::stop() { work_cancel(HPWORK, &_work); } -void PX4FLOW::cycle_trampoline(void *arg) +void +PX4FLOW::cycle_trampoline(void *arg) { PX4FLOW *dev = (PX4FLOW *) arg; dev->cycle(); } -void PX4FLOW::cycle() +void +PX4FLOW::cycle() { if (OK != measure()) { log("measure error"); @@ -619,7 +634,8 @@ void PX4FLOW::cycle() } -void PX4FLOW::print_info() +void +PX4FLOW::print_info() { perf_print_counter(_sample_perf); perf_print_counter(_comms_errors); @@ -651,7 +667,8 @@ void info(); /** * Start the driver. */ -void start() +void +start() { int fd; @@ -696,7 +713,8 @@ fail: /** * Stop the driver */ -void stop() +void +stop() { if (g_dev != nullptr) { delete g_dev; @@ -714,7 +732,8 @@ void stop() * make sure we can collect data from the sensor in polled * and automatic modes. */ -void test() +void +test() { struct optical_flow_s report; ssize_t sz; @@ -792,7 +811,8 @@ void test() /** * Reset the driver. */ -void reset() +void +reset() { int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); @@ -814,7 +834,8 @@ void reset() /** * Print a little info about the driver. */ -void info() +void +info() { if (g_dev == nullptr) { errx(1, "driver not running"); @@ -828,7 +849,8 @@ void info() } // namespace -int px4flow_main(int argc, char *argv[]) +int +px4flow_main(int argc, char *argv[]) { /* * Start/load the driver. |