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AP_HAL_Linux: make CameraSensor follow coding style 

- Replace tabs with spaces
 - Sort includes
 - No need to ifdef Linux inside AP_HAL_Linux
 - Use early returns on error rather than a chain o if/else
 - Use pragma once
 - No need to initialize class members to 0, it's already our default
   behavior
This commit is contained in:
Lucas De Marchi 2015-12-14 12:05:17 -02:00 committed by Andrew Tridgell
parent c84d9bf702
commit 24d20f89c4
5 changed files with 42 additions and 51 deletions
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41
libraries/AP_HAL_Linux/CameraSensor.cpp
View File

@ -12,43 +12,40 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "CameraSensor.h"
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <linux/v4l2-subdev.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
using namespace Linux;
bool CameraSensor::set_format(uint32_t width, uint32_t height, uint32_t format)
{
struct v4l2_subdev_format fmt;
int ret, fd;
int ret, fd;
fd = open(_device_path, O_RDWR);
if (fd < 0) {
return false;
fd = open(_device_path, O_RDWR);
if (fd < 0) {
return false;
}
memset(&fmt, 0, sizeof(fmt));
fmt.pad = 0;
fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
fmt.format.width = width;
memset(&fmt, 0, sizeof(fmt));
fmt.pad = 0;
fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
fmt.format.width = width;
fmt.format.height = height;
fmt.format.code = format;
ret = ioctl(fd, VIDIOC_SUBDEV_S_FMT, &fmt);
if (ret < 0) {
return false;
ret = ioctl(fd, VIDIOC_SUBDEV_S_FMT, &fmt);
if (ret < 0) {
return false;
}
return true;
return true;
}
#endif

9
libraries/AP_HAL_Linux/CameraSensor.h
View File

@ -12,18 +12,17 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __CAMERASENSOR_H__
#define __CAMERASENSOR_H__
#pragma once
#include "AP_HAL_Linux.h"
class Linux::CameraSensor {
public:
CameraSensor(const char *device_path) {_device_path = device_path;}
CameraSensor(const char *device_path) { _device_path = device_path; }
bool set_format(uint32_t width, uint32_t height, uint32_t format);
bool set_crop(uint32_t left, uint32_t top);
private:
const char *_device_path;
};
#endif

26
libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp
View File

@ -111,12 +111,12 @@ CameraSensor_Mt9v117::CameraSensor_Mt9v117(const char *device_path,
uint8_t addr,
enum mt9v117_res res,
uint16_t nrst_gpio,
uint32_t clock_freq) :
CameraSensor(device_path),
_i2c(i2c),
_addr(addr),
_nrst_gpio(nrst_gpio),
_clock_freq(clock_freq)
uint32_t clock_freq)
: CameraSensor(device_path)
, _i2c(i2c)
, _addr(addr)
, _nrst_gpio(nrst_gpio)
, _clock_freq(clock_freq)
{
switch (res) {
case MT9V117_QVGA:
@ -138,12 +138,12 @@ uint8_t CameraSensor_Mt9v117::_read_reg8(uint16_t reg)
buf[0] = (uint8_t) (reg >> 8);
buf[1] = (uint8_t) (reg & 0xFF);
if (_i2c->do_transfer(_addr, buf, 2, buf, 1)) {
return buf[0];
} else {
if (!_i2c->do_transfer(_addr, buf, 2, buf, 1)) {
hal.console->printf("mt9v117: error reading 0x%2x\n", reg);
return 0;
}
return buf[0];
}
void CameraSensor_Mt9v117::_write_reg8(uint16_t reg, uint8_t val)
@ -164,12 +164,12 @@ uint16_t CameraSensor_Mt9v117::_read_reg16(uint16_t reg)
buf[0] = (uint8_t) (reg >> 8);
buf[1] = (uint8_t) (reg & 0xFF);
if (_i2c->do_transfer(_addr, buf, 2, buf, 2)) {
return (buf[0] << 8 | buf[1]);
} else {
if (!_i2c->do_transfer(_addr, buf, 2, buf, 2)) {
hal.console->printf("mt9v117: error reading 0x%4x\n", reg);
return 0;
}
return (buf[0] << 8 | buf[1]);
}
void CameraSensor_Mt9v117::_write_reg16(uint16_t reg, uint16_t val)
@ -316,7 +316,7 @@ void CameraSensor_Mt9v117::_apply_patch()
_write_reg16(PHYSICAL_ADDRESS_ACCESS, 0x7000);
/* write patch */
for (unsigned int i=0; i < MT9V117_PATCH_LINE_NUM; i++) {
for (unsigned int i = 0; i < MT9V117_PATCH_LINE_NUM; i++) {
_i2c->do_transfer(_addr,
patch_lines[i].data, patch_lines[i].size, NULL, 0);
}

10
libraries/AP_HAL_Linux/CameraSensor_Mt9v117.h
View File

@ -12,8 +12,7 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __CAMERASENSOR_MT9V117_H__
#define __CAMERASENSOR_MT9V117_H__
#pragma once
#include "AP_HAL_Linux.h"
#include "CameraSensor.h"
@ -27,6 +26,7 @@ public:
CameraSensor_Mt9v117(const char *device_path, AP_HAL::I2CDriver *i2c,
uint8_t addr, enum mt9v117_res res,
uint16_t nrst_gpio, uint32_t clock_freq);
private:
uint8_t _read_reg8(uint16_t reg);
void _write_reg8(uint16_t reg, uint8_t val);
@ -48,9 +48,7 @@ private:
void _init_sensor();
AP_HAL::I2CDriver *_i2c;
uint8_t _addr;
uint32_t _clock_freq;
uint16_t _nrst_gpio = 0xFFFF;
uint32_t _clock_freq = 0;
uint8_t _addr;
};
#endif

7
libraries/AP_HAL_Linux/CameraSensor_Mt9v117_Patches.h
View File

@ -12,12 +12,11 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __CAMERASENSOR_MT9V117_PATCHES_H__
#define __CAMERASENSOR_MT9V117_PATCHES_H__
#pragma once
/* It seems to be mandatory to write these patches by unit of 48 bytes, the
* 2 first ones seem to be an address since it increments of 48 at each line
* Possibly easier to read if written under the form :
* Possibly easier to read if written under the form :
* writeRegisters(addr, 0xf000, 48, line1);
* ...
*/
@ -157,5 +156,3 @@ struct mt9v117_patch_line patch_lines[MT9V117_PATCH_LINE_NUM] = {
{patch_line12, sizeof(patch_line12)},
{patch_line13, sizeof(patch_line13)}
};
#endif