From 349af372d0823d3e7f8cbc0c247d2af81e7c44a9 Mon Sep 17 00:00:00 2001
From: Greg Hulands <ghulands@me.com>
Date: Fri, 1 Mar 2013 10:03:40 -0800
Subject: Changes from pull request feedback

---
 apps/drivers/device/i2c.cpp     | 24 ------------------------
 apps/drivers/device/i2c.h       | 20 --------------------
 apps/drivers/drv_range_finder.h |  4 ++--
 apps/drivers/mb12xx/Makefile    |  2 +-
 apps/drivers/mb12xx/mb12xx.cpp  | 12 ++++++------
 5 files changed, 9 insertions(+), 53 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/device/i2c.cpp b/apps/drivers/device/i2c.cpp
index c6102a6c1..a416801eb 100644
--- a/apps/drivers/device/i2c.cpp
+++ b/apps/drivers/device/i2c.cpp
@@ -114,30 +114,6 @@ I2C::probe()
 	return OK;
 }
 
-int
-I2C::write(const uint8_t *send, unsigned send_len)
-{
-	int ret = OK;
-	
-	I2C_SETFREQUENCY(_dev, _frequency);
-	I2C_SETADDRESS(_dev, _address, 7);
-	ret = I2C_WRITE(_dev, send, send_len);
-	
-	return ret;
-}
-
-int
-I2C::read(uint8_t *recv, unsigned recv_len)
-{
-	int ret = OK;
-	
-	I2C_SETFREQUENCY(_dev, _frequency);
-	I2C_SETADDRESS(_dev, _address, 7);
-	ret = I2C_READ(_dev, recv, recv_len);
-	
-	return ret;
-}
-
 int
 I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
 {
diff --git a/apps/drivers/device/i2c.h b/apps/drivers/device/i2c.h
index 874b22301..472bf26ab 100644
--- a/apps/drivers/device/i2c.h
+++ b/apps/drivers/device/i2c.h
@@ -84,26 +84,6 @@ protected:
 	 * Check for the presence of the device on the bus.
 	 */
 	virtual int	probe();
-
-	/**
-	 * Perform an I2C write to the device.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		write(const uint8_t *send, unsigned send_len);
-	
-	/**
-	 * Perform an I2C read from the device.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		read(uint8_t *recv, unsigned recv_len);
 	
 	/**
 	 * Perform an I2C transaction to the device.
diff --git a/apps/drivers/drv_range_finder.h b/apps/drivers/drv_range_finder.h
index 420011be5..0fe8564ac 100644
--- a/apps/drivers/drv_range_finder.h
+++ b/apps/drivers/drv_range_finder.h
@@ -57,14 +57,14 @@ struct range_finder_report {
 };
 
 /*
- * ObjDev tag for raw accelerometer data.
+ * ObjDev tag for raw range finder data.
  */
 ORB_DECLARE(sensor_range_finder);
 
 /*
  * ioctl() definitions
  *
- * Accelerometer drivers also implement the generic sensor driver
+ * Rangefinder drivers also implement the generic sensor driver
  * interfaces from drv_sensor.h
  */
 
diff --git a/apps/drivers/mb12xx/Makefile b/apps/drivers/mb12xx/Makefile
index b5b911be1..0d2405787 100644
--- a/apps/drivers/mb12xx/Makefile
+++ b/apps/drivers/mb12xx/Makefile
@@ -37,6 +37,6 @@
 
 APPNAME		= mb12xx
 PRIORITY	= SCHED_PRIORITY_DEFAULT
-STACKSIZE	= 4096
+STACKSIZE	= 2048
 
 include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/mb12xx/mb12xx.cpp b/apps/drivers/mb12xx/mb12xx.cpp
index d7a3357c8..0e4712f5a 100644
--- a/apps/drivers/mb12xx/mb12xx.cpp
+++ b/apps/drivers/mb12xx/mb12xx.cpp
@@ -157,7 +157,7 @@ private:
 	
 	/**
 	* Set the min and max distance thresholds if you want the end points of the sensors
-	* range to be bought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE
+	* range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE
 	* and MB12XX_MAX_DISTANCE
 	*/
 	void				set_minimum_distance(float min);
@@ -388,13 +388,13 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
 	
 	case RANGEFINDERIOCSETMINIUMDISTANCE:
 	{
-		set_minimum_distance((float)arg);
+		set_minimum_distance(*(float *)arg);
 		return 0;
 	}
 	break;
 	case RANGEFINDERIOCSETMAXIUMDISTANCE:
 	{
-		set_maximum_distance((float)arg);
+		set_maximum_distance(*(float *)arg);
 		return 0;
 	}
 	break;
@@ -471,8 +471,8 @@ MB12XX::measure()
 	/*
 	 * Send the command to begin a measurement.
 	 */
-	uint8_t cmd[] = {MB12XX_TAKE_RANGE_REG};
-	ret = I2C::write(&cmd[0], 1);
+	uint8_t cmd = MB12XX_TAKE_RANGE_REG;
+	ret = transfer(&cmd, 1, nullptr, 0);
 
 	if (OK != ret)
 	{
@@ -495,7 +495,7 @@ MB12XX::collect()
 	
 	perf_begin(_sample_perf);
 	
-	ret = I2C::read(&val[0], 2);
+	ret = transfer(nullptr, 0, &val[0], 2);
 	
 	if (ret < 0)
 	{
-- 
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