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AP_InertialSensor: MPU60x0: coding style fixes

This commit is contained in:
Lucas De Marchi 2016-01-20 20:12:15 -02:00
parent ed653f8dbb
commit 5088dca072
1 changed files with 11 additions and 7 deletions
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18
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -881,7 +881,7 @@ int AP_MPU6000_AuxiliaryBusSlave::_set_passthrough(uint8_t reg, uint8_t size,
}
int AP_MPU6000_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *buf,
uint8_t size)
uint8_t size)
{
assert(buf);
@ -891,8 +891,9 @@ int AP_MPU6000_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *buf,
}
int r = _set_passthrough(reg, size);
if (r < 0)
if (r < 0) {
return r;
}
/* wait the value to be read from the slave and read it back */
hal.scheduler->delay(10);
@ -914,8 +915,9 @@ int AP_MPU6000_AuxiliaryBusSlave::passthrough_write(uint8_t reg, uint8_t val)
}
int r = _set_passthrough(reg, 1, &val);
if (r < 0)
if (r < 0) {
return r;
}
/* wait the value to be written to the slave */
hal.scheduler->delay(10);
@ -956,8 +958,9 @@ AP_HAL::Semaphore *AP_MPU6000_AuxiliaryBus::get_semaphore()
AuxiliaryBusSlave *AP_MPU6000_AuxiliaryBus::_instantiate_slave(uint8_t addr, uint8_t instance)
{
/* Enable slaves on MPU6000 if this is the first time */
if (_ext_sens_data == 0)
if (_ext_sens_data == 0) {
_configure_slaves();
}
return new AP_MPU6000_AuxiliaryBusSlave(*this, addr, instance);
}
@ -966,8 +969,8 @@ void AP_MPU6000_AuxiliaryBus::_configure_slaves()
{
auto &backend = AP_InertialSensor_MPU6000::from(_ins_backend);
uint8_t user_ctrl;
user_ctrl = backend._register_read(MPUREG_USER_CTRL);
/* Enable the I2C master to slaves on the auxiliary I2C bus*/
uint8_t user_ctrl = backend._register_read(MPUREG_USER_CTRL);
backend._register_write(MPUREG_USER_CTRL, user_ctrl | BIT_USER_CTRL_I2C_MST_EN);
/* stop condition between reads; clock at 400kHz */
@ -987,8 +990,9 @@ void AP_MPU6000_AuxiliaryBus::_configure_slaves()
int AP_MPU6000_AuxiliaryBus::_configure_periodic_read(AuxiliaryBusSlave *slave,
uint8_t reg, uint8_t size)
{
if (_ext_sens_data + size > MAX_EXT_SENS_DATA)
if (_ext_sens_data + size > MAX_EXT_SENS_DATA) {
return -1;
}
AP_MPU6000_AuxiliaryBusSlave *mpu_slave =
static_cast<AP_MPU6000_AuxiliaryBusSlave*>(slave);