From 5088dca0727424b0eb299deb2f9715e74e5412cf Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Wed, 20 Jan 2016 20:12:15 -0200 Subject: [PATCH] AP_InertialSensor: MPU60x0: coding style fixes --- .../AP_InertialSensor_MPU6000.cpp | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index 26579f6b6f..2a7d2dc9b2 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -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(slave);