From 26cd4ad23708f01dda38c98a53e8a6686de844da Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Tue, 13 May 2014 16:51:07 +0530
Subject: [PATCH] HAL_Linux: Correct indentation

---
 libraries/AP_HAL_Linux/RCOutput.cpp | 202 ++++++++++++++--------------
 1 file changed, 101 insertions(+), 101 deletions(-)

diff --git a/libraries/AP_HAL_Linux/RCOutput.cpp b/libraries/AP_HAL_Linux/RCOutput.cpp
index b30297ca3e..a75228f05d 100644
--- a/libraries/AP_HAL_Linux/RCOutput.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput.cpp
@@ -11,97 +11,97 @@ using namespace std;
 #define PWM_DIR_EXPORT "/sys/class/pwm/export"
 #define PWM_CHAN_COUNT 12
 
-int chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0};				//chan_pru_map[CHANNEL_NUM] = PRU_REG_R30/31_NUM;
-int pru_chan_map[]= {11,10,9,8,7,6,5,4,1,3,0,2};				//pru_chan_map[PRU_REG_R30/31_NUM] = CHANNEL_NUM;
+int chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0};                //chan_pru_map[CHANNEL_NUM] = PRU_REG_R30/31_NUM;
+int pru_chan_map[]= {11,10,9,8,7,6,5,4,1,3,0,2};                //pru_chan_map[PRU_REG_R30/31_NUM] = CHANNEL_NUM;
 
 void LinuxRCOutput::init()
 {
-	DIR* _pwm_dir = opendir(PWM_DIR);
-	int _pwm_fd;
-	char chan[2];
+    DIR* _pwm_dir = opendir(PWM_DIR);
+    int _pwm_fd;
+    char chan[2];
     struct dirent *dir;
-	int pru_load_success=0;
-	int exported_count=0;
-	int i,pru_r30;
+    int pru_load_success=0;
+    int exported_count=0;
+    int i,pru_r30;
 
      if (_pwm_dir){
-			while ((dir = readdir(_pwm_dir)) != NULL){
-			if(strcmp(dir->d_name,"pwmchip0")==0){
-				pru_load_success = 1;
-				closedir(_pwm_dir);
-				break;
+            while ((dir = readdir(_pwm_dir)) != NULL){
+            if(strcmp(dir->d_name,"pwmchip0")==0){
+                pru_load_success = 1;
+                closedir(_pwm_dir);
+                break;
             }
         }
-		if(!pru_load_success){
-			perror("PRU PWM LOAD failed: PRU might not be enabled");
-	    }
+        if(!pru_load_success){
+            perror("PRU PWM LOAD failed: PRU might not be enabled");
+        }
 
-	}
+    }
     else{
         perror("PWM DIR not found");
     }
-	
-	_pwm_fd = open(PWM_DIR_EXPORT,O_WRONLY);
+    
+    _pwm_fd = open(PWM_DIR_EXPORT,O_WRONLY);
 
     if(_pwm_fd < 0){
-		 perror("PWM_EXPORT not found");
-	}
+         perror("PWM_EXPORT not found");
+    }
 
-	for(i=0;i<PWM_CHAN_COUNT;i++){
-		sprintf(chan, "%d",chan_pru_map[i]);
-		write(_pwm_fd,&chan,sizeof(chan));
-	}
+    for(i=0;i<PWM_CHAN_COUNT;i++){
+        sprintf(chan, "%d",chan_pru_map[i]);
+        write(_pwm_fd,&chan,sizeof(chan));
+    }
 
-	close(_pwm_fd);
-	_pwm_dir = opendir(PWM_DIR);
+    close(_pwm_fd);
+    _pwm_dir = opendir(PWM_DIR);
 
-	while ((dir = readdir(_pwm_dir)) != NULL){
-		pru_r30=strtol(dir->d_name+3,NULL,10);
-		if(pru_r30>0 && pru_r30<12){
-			write1(pru_chan_map[pru_r30],10);				//writing absolute minimum to duty_ns necessary for pwm_sysfs to start working 
-			//printf("CHANNEL %d",pru_chan_map[pru_r30]);
-			//printf(" exported\n");
-			exported_count++;
-		}
-		else if(strcmp(dir->d_name,"pwm0")==0){
-			write1(pru_chan_map[pru_r30],10);
-			//printf("CHANNEL %d",pru_chan_map[0]);
-			//printf(" exported \n");
-			exported_count++;
-		}
-	}
-	if(exported_count != PWM_CHAN_COUNT){
-		printf("WARNING: All channels not exported\n");
-	}
+    while ((dir = readdir(_pwm_dir)) != NULL){
+        pru_r30=strtol(dir->d_name+3,NULL,10);
+        if(pru_r30>0 && pru_r30<12){
+            write1(pru_chan_map[pru_r30],10);                //writing absolute minimum to duty_ns necessary for pwm_sysfs to start working 
+            //printf("CHANNEL %d",pru_chan_map[pru_r30]);
+            //printf(" exported\n");
+            exported_count++;
+        }
+        else if(strcmp(dir->d_name,"pwm0")==0){
+            write1(pru_chan_map[pru_r30],10);
+            //printf("CHANNEL %d",pru_chan_map[0]);
+            //printf(" exported \n");
+            exported_count++;
+        }
+    }
+    if(exported_count != PWM_CHAN_COUNT){
+        printf("WARNING: All channels not exported\n");
+    }
     closedir(_pwm_dir);
 }
 
-void LinuxRCOutput::set_freq(uint32_t chmask, uint32_t freq_hz)			//LSB corresponds to CHAN_1
+void LinuxRCOutput::set_freq(uint32_t chmask, uint32_t freq_hz)            //LSB corresponds to CHAN_1
 {
-	int _fd, ret,i;
+    int _fd, ret,i;
     unsigned long period_ns=1000000000/freq_hz;
-	char period_sysfs_path[20],buffer[15];
+    char period_sysfs_path[20],buffer[15];
     sprintf(buffer,"%lu",(unsigned long)period_ns);
    
-	for(i=0;i<12;i++){
-		if(chmask&(1<<i)){
-			sprintf(period_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[i],"/period_ns");
-		   	_fd=open(period_sysfs_path,O_WRONLY);
-		    if(_fd < 0){
-		        perror("Period/Frequency file open failed");
-		    }
-	
-		    ret = write(_fd,&buffer,sizeof(buffer));
-		    if(ret < 0){
-		    	perror("Period/Frequency write failed");
-		    }
-		}
-	}
+    for(i=0;i<12;i++){
+        if(chmask&(1<<i)){
+            sprintf(period_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[i],"/period_ns");
+               _fd=open(period_sysfs_path,O_WRONLY);
+            if(_fd < 0){
+                perror("Period/Frequency file open failed");
+            }
+    
+            ret = write(_fd,&buffer,sizeof(buffer));
+            if(ret < 0){
+                perror("Period/Frequency write failed");
+            }
+        }
+    }
 }
 
 uint16_t LinuxRCOutput::get_freq(uint8_t ch) 
 {
-	int _fd, ret;
+    int _fd, ret;
     int freq_hz;
     char period_sysfs_path[20],buffer[15];
     sprintf(period_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/period_ns");
@@ -122,7 +122,7 @@ uint16_t LinuxRCOutput::get_freq(uint8_t ch)
 
 void LinuxRCOutput::enable_ch(uint8_t ch)
 {
-	int _fd, ret;
+    int _fd, ret;
     char run_sysfs_path[20],buffer[]="1";
     sprintf(run_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/run");
     
@@ -139,7 +139,7 @@ void LinuxRCOutput::enable_ch(uint8_t ch)
 
 void LinuxRCOutput::disable_ch(uint8_t ch)
 {
-	int _fd, ret;
+    int _fd, ret;
     char run_sysfs_path[20],buffer[]="0";
     sprintf(run_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/run");
     
@@ -156,9 +156,9 @@ void LinuxRCOutput::disable_ch(uint8_t ch)
 
 void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
 {
-	int _fd, ret;
+    int _fd, ret;
     char duty_sysfs_path[20],buffer[15];
-	sprintf(buffer,"%lu",(unsigned long)period_us*1000);
+    sprintf(buffer,"%lu",(unsigned long)period_us*1000);
     sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/duty_ns");
     
     _fd=open(duty_sysfs_path,O_WRONLY);
@@ -174,29 +174,29 @@ void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
 
 void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
 {
-	int _fd, ret,i;
+    int _fd, ret,i;
     char duty_sysfs_path[25],buffer[15];
-	for(i=0;i<len;i++){
-		sprintf(buffer,"%lu",(unsigned long)period_us[i]*1000);
-    	sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch+i],"/duty_ns");
+    for(i=0;i<len;i++){
+        sprintf(buffer,"%lu",(unsigned long)period_us[i]*1000);
+        sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch+i],"/duty_ns");
     
-    	_fd=open(duty_sysfs_path,O_WRONLY);
-    	if(_fd < 0){
-        	perror("duty_ns: file open failed");
-    	}
+        _fd=open(duty_sysfs_path,O_WRONLY);
+        if(_fd < 0){
+            perror("duty_ns: file open failed");
+        }
 
-    	ret = write(_fd,&buffer,sizeof(buffer));
-    	if(ret < 0){
-        	perror("duty_ns: read failed");
-    	}
-		close(_fd);
-	}
+        ret = write(_fd,&buffer,sizeof(buffer));
+        if(ret < 0){
+            perror("duty_ns: read failed");
+        }
+        close(_fd);
+    }
 }
 
 uint16_t LinuxRCOutput::read(uint8_t ch) {
-	int _fd, ret;
+    int _fd, ret;
     char duty_sysfs_path[25],buffer[15];
-	
+    
     sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/duty_ns");
     
     _fd=open(duty_sysfs_path,O_RDONLY);
@@ -207,30 +207,30 @@ uint16_t LinuxRCOutput::read(uint8_t ch) {
     ret = read(_fd,&buffer,sizeof(buffer));
     if(ret < 0){
         perror("duty_ns: read failed");
-	}
-	close(_fd);		
-	return strtol(buffer,NULL,10)/1000;
-	
+    }
+    close(_fd);        
+    return strtol(buffer,NULL,10)/1000;
+    
 }
 
 void LinuxRCOutput::read(uint16_t* period_us, uint8_t len)
 {
-	int _fd, ret ,i;
+    int _fd, ret ,i;
     char duty_sysfs_path[25],buffer[15];
-	for(i=0;i<len;i++){
-    	sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[i],"/duty_ns");
+    for(i=0;i<len;i++){
+        sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[i],"/duty_ns");
     
-    	_fd=open(duty_sysfs_path,O_RDONLY);
-    	if(_fd < 0){
-        	perror("duty_ns: file open failed");
-    	}
+        _fd=open(duty_sysfs_path,O_RDONLY);
+        if(_fd < 0){
+            perror("duty_ns: file open failed");
+        }
 
-    	ret = read(_fd,&buffer,sizeof(buffer));
-    	if(ret < 0){
-        	perror("duty_ns: read failed");
-    	}
-		period_us[i]=strtol(buffer,NULL,10)/1000;
-		close(_fd);
-	}
+        ret = read(_fd,&buffer,sizeof(buffer));
+        if(ret < 0){
+            perror("duty_ns: read failed");
+        }
+        period_us[i]=strtol(buffer,NULL,10)/1000;
+        close(_fd);
+    }
 }