5 files changed, 179 insertions, 172 deletions

diff --git a/apps/drivers/boards/px4fmu/px4fmu_adc.c b/apps/drivers/boards/px4fmu/px4fmu_adc.c
index 2ea855955..987894163 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_adc.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_adc.c
@@ -99,25 +99,22 @@ int adc_devinit(void)
 
 	/* Check if we have already initialized */
 
-	if (!initialized)
-	{
+	if (!initialized) {
 		char name[11];
 
-		for (i = 0; i < ADC3_NCHANNELS; i++)
-		{
-		stm32_configgpio(g_pinlist[i]);
+		for (i = 0; i < ADC3_NCHANNELS; i++) {
+			stm32_configgpio(g_pinlist[i]);
 		}
 
-		for (i = 0; i < 1; i++)
-		{
+		for (i = 0; i < 1; i++) {
 			/* Configure the pins as analog inputs for the selected channels */
 			//stm32_configgpio(g_pinlist[i]);
 
 			/* Call stm32_adcinitialize() to get an instance of the ADC interface */
 			//multiple channels only supported with dma!
 			adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
-			if (adc == NULL)
-			{
+
+			if (adc == NULL) {
 				adbg("ERROR: Failed to get ADC interface\n");
 				return -ENODEV;
 			}
@@ -126,8 +123,8 @@ int adc_devinit(void)
 			/* Register the ADC driver at "/dev/adc0" */
 			sprintf(name, "/dev/adc%d", i);
 			ret = adc_register(name, adc[i]);
-			if (ret < 0)
-			{
+
+			if (ret < 0) {
 				adbg("adc_register failed for adc %s: %d\n", name, ret);
 				return ret;
 			}
diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/apps/drivers/boards/px4fmu/px4fmu_can.c
index 92d96e558..0d0b5fcd3 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_can.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_can.c
@@ -107,36 +107,35 @@
 
 int can_devinit(void)
 {
-  static bool initialized = false;
-  struct can_dev_s *can;
-  int ret;
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
 
-  /* Check if we have already initialized */
+	/* Check if we have already initialized */
 
-  if (!initialized)
-    {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-      can = stm32_caninitialize(CAN_PORT);
-      if (can == NULL)
-        {
-          candbg("ERROR:  Failed to get CAN interface\n");
-          return -ENODEV;
-        }
+		can = stm32_caninitialize(CAN_PORT);
 
-      /* Register the CAN driver at "/dev/can0" */
+		if (can == NULL) {
+			candbg("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
 
-      ret = can_register("/dev/can0", can);
-      if (ret < 0)
-        {
-          candbg("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
+		/* Register the CAN driver at "/dev/can0" */
 
-      /* Now we are initialized */
+		ret = can_register("/dev/can0", can);
 
-      initialized = true;
-    }
+		if (ret < 0) {
+			candbg("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
 
-  return OK;
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
 }
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index ba6cdd764..e5ded7328 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -34,7 +34,7 @@
 /**
  * @file px4fmu_init.c
  *
- * PX4FMU-specific early startup code.  This file implements the 
+ * PX4FMU-specific early startup code.  This file implements the
  * nsh_archinitialize() function that is called early by nsh during startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
@@ -115,11 +115,11 @@ extern int adc_devinit(void);
 
 __EXPORT void stm32_boardinitialize(void)
 {
-  /* configure SPI interfaces */
-  stm32_spiinitialize();
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
 
-  /* configure LEDs */
-  up_ledinit();
+	/* configure LEDs */
+	up_ledinit();
 }
 
 /****************************************************************************
@@ -139,171 +139,179 @@ static struct i2c_dev_s *i2c3;
 #include <math.h>
 
 #ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e) {
-  return 1;
+__EXPORT int matherr(struct __exception *e)
+{
+	return 1;
 }
 #else
-__EXPORT int matherr(struct exception *e) {
-  return 1;
+__EXPORT int matherr(struct exception *e)
+{
+	return 1;
 }
 #endif
 
 __EXPORT int nsh_archinitialize(void)
 {
-  int result;
+	int result;
 
-  /* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
+	/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
 
-  /* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
+	/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
 
-  /* configure the high-resolution time/callout interface */
+	/* configure the high-resolution time/callout interface */
 #ifdef CONFIG_HRT_TIMER
-  hrt_init();
+	hrt_init();
 #endif
 
-  /* configure CPU load estimation */
-  #ifdef CONFIG_SCHED_INSTRUMENTATION
-  cpuload_initialize_once();
-  #endif
+	/* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+	cpuload_initialize_once();
+#endif
 
-  /* set up the serial DMA polling */
+	/* set up the serial DMA polling */
 #ifdef SERIAL_HAVE_DMA
-  {
-    static struct hrt_call serial_dma_call;
-    struct timespec ts;
-
-    /* 
-     * Poll at 1ms intervals for received bytes that have not triggered
-     * a DMA event.
-     */
-    ts.tv_sec = 0;
-    ts.tv_nsec = 1000000;
-
-    hrt_call_every(&serial_dma_call, 
-                   ts_to_abstime(&ts),
-                   ts_to_abstime(&ts),
-                   (hrt_callout)stm32_serial_dma_poll,
-                   NULL);
-  }
+	{
+		static struct hrt_call serial_dma_call;
+		struct timespec ts;
+
+		/*
+		 * Poll at 1ms intervals for received bytes that have not triggered
+		 * a DMA event.
+		 */
+		ts.tv_sec = 0;
+		ts.tv_nsec = 1000000;
+
+		hrt_call_every(&serial_dma_call,
+			       ts_to_abstime(&ts),
+			       ts_to_abstime(&ts),
+			       (hrt_callout)stm32_serial_dma_poll,
+			       NULL);
+	}
 #endif
 
-  message("\r\n");
+	message("\r\n");
+
+	up_ledoff(LED_BLUE);
+	up_ledoff(LED_AMBER);
 
-  up_ledoff(LED_BLUE);
-  up_ledoff(LED_AMBER);
+	up_ledon(LED_BLUE);
 
-  up_ledon(LED_BLUE);
+	/* Configure user-space led driver */
+	px4fmu_led_init();
 
-  /* Configure user-space led driver */
-  px4fmu_led_init();
+	/* Configure SPI-based devices */
 
-  /* Configure SPI-based devices */
+	spi1 = up_spiinitialize(1);
 
-  spi1 = up_spiinitialize(1);
-  if (!spi1)
-  {
-	  message("[boot] FAILED to initialize SPI port 1\r\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
+	if (!spi1) {
+		message("[boot] FAILED to initialize SPI port 1\r\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
 
-  // Default SPI1 to 1MHz and de-assert the known chip selects.
-  SPI_SETFREQUENCY(spi1, 10000000);
-  SPI_SETBITS(spi1, 8);
-  SPI_SETMODE(spi1, SPIDEV_MODE3);
-  SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
-  up_udelay(20);
+	// Default SPI1 to 1MHz and de-assert the known chip selects.
+	SPI_SETFREQUENCY(spi1, 10000000);
+	SPI_SETBITS(spi1, 8);
+	SPI_SETMODE(spi1, SPIDEV_MODE3);
+	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+	up_udelay(20);
 
-  message("[boot] Successfully initialized SPI port 1\r\n");
+	message("[boot] Successfully initialized SPI port 1\r\n");
 
-  /* initialize I2C2 bus */
+	/* initialize I2C2 bus */
 
-  i2c2 = up_i2cinitialize(2);
-  if (!i2c2) {
-	  message("[boot] FAILED to initialize I2C bus 2\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
+	i2c2 = up_i2cinitialize(2);
 
-  /* set I2C2 speed */
-  I2C_SETFREQUENCY(i2c2, 400000);
+	if (!i2c2) {
+		message("[boot] FAILED to initialize I2C bus 2\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
 
+	/* set I2C2 speed */
+	I2C_SETFREQUENCY(i2c2, 400000);
 
-  i2c3 = up_i2cinitialize(3);
-  if (!i2c3) {
-	  message("[boot] FAILED to initialize I2C bus 3\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
 
-  /* set I2C3 speed */
-  I2C_SETFREQUENCY(i2c3, 400000);
+	i2c3 = up_i2cinitialize(3);
 
-  /* try to attach, don't fail if device is not responding */
-  (void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
-		  FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
-		  FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
-		  FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
+	if (!i2c3) {
+		message("[boot] FAILED to initialize I2C bus 3\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	/* set I2C3 speed */
+	I2C_SETFREQUENCY(i2c3, 400000);
+
+	/* try to attach, don't fail if device is not responding */
+	(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
+			    FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
+			    FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
+			    FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
 
 #if defined(CONFIG_STM32_SPI3)
-  /* Get the SPI port */
-
-  message("[boot] Initializing SPI port 3\n");
-  spi3 = up_spiinitialize(3);
-  if (!spi3)
-    {
-      message("[boot] FAILED to initialize SPI port 3\n");
-      up_ledon(LED_AMBER);
-      return -ENODEV;
-    }
-  message("[boot] Successfully initialized SPI port 3\n");
-
-  /* Now bind the SPI interface to the MMCSD driver */
-  result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
-  if (result != OK)
-  {
-	  message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
-  message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
+	/* Get the SPI port */
+
+	message("[boot] Initializing SPI port 3\n");
+	spi3 = up_spiinitialize(3);
+
+	if (!spi3) {
+		message("[boot] FAILED to initialize SPI port 3\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	message("[boot] Successfully initialized SPI port 3\n");
+
+	/* Now bind the SPI interface to the MMCSD driver */
+	result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+
+	if (result != OK) {
+		message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
 #endif /* SPI3 */
 
-  /* initialize I2C1 bus */
+	/* initialize I2C1 bus */
 
-  i2c1 = up_i2cinitialize(1);
-  if (!i2c1) {
-    message("[boot] FAILED to initialize I2C bus 1\n");
-    up_ledon(LED_AMBER);
-    return -ENODEV;
-  }
+	i2c1 = up_i2cinitialize(1);
 
-  /* set I2C1 speed */
-  I2C_SETFREQUENCY(i2c1, 400000);
+	if (!i2c1) {
+		message("[boot] FAILED to initialize I2C bus 1\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
 
-  /* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
+	/* set I2C1 speed */
+	I2C_SETFREQUENCY(i2c1, 400000);
 
-  /* Get board information if available */
+	/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
 
-  /* Initialize the user GPIOs */
-  px4fmu_gpio_init();
+	/* Get board information if available */
+
+	/* Initialize the user GPIOs */
+	px4fmu_gpio_init();
 
 #ifdef CONFIG_ADC
-  int adc_state = adc_devinit();
-  if (adc_state != OK)
-  {
-    /* Try again */
-    adc_state = adc_devinit();
-    if (adc_state != OK)
-    {
-      /* Give up */
-      message("[boot] FAILED adc_devinit: %d\n", adc_state);
-      return -ENODEV;
-    }
-  }
+	int adc_state = adc_devinit();
+
+	if (adc_state != OK) {
+		/* Try again */
+		adc_state = adc_devinit();
+
+		if (adc_state != OK) {
+			/* Give up */
+			message("[boot] FAILED adc_devinit: %d\n", adc_state);
+			return -ENODEV;
+		}
+	}
+
 #endif
 
-  return OK;
+	return OK;
 }
diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/apps/drivers/boards/px4fmu/px4fmu_spi.c
index fbb6191d6..70245a3ec 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_spi.c
@@ -95,21 +95,24 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
 		break;
+
 	case PX4_SPIDEV_ACCEL:
 		/* Making sure the other peripherals are not selected */
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
 		break;
+
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
+
 	default:
 		break;
-		
+
 	}
 }
 
diff --git a/apps/drivers/boards/px4fmu/px4fmu_usb.c b/apps/drivers/boards/px4fmu/px4fmu_usb.c
index d635e719b..b0b669fbe 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_usb.c
@@ -77,16 +77,16 @@
 
 __EXPORT void stm32_usbinitialize(void)
 {
-  /* The OTG FS has an internal soft pull-up */
+	/* The OTG FS has an internal soft pull-up */
 
-  /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-  stm32_configgpio(GPIO_OTGFS_VBUS);
-  /* XXX We only support device mode
-  stm32_configgpio(GPIO_OTGFS_PWRON);
-  stm32_configgpio(GPIO_OTGFS_OVER);
-  */
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
 #endif
 }
 
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
 
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
-  ulldbg("resume: %d\n", resume);
+	ulldbg("resume: %d\n", resume);
 }