From 9d29effd2b66dfd06c24e3119413219657ac31c3 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 23:20:51 -0700 Subject: [PATCH] uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h --- .../AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h | 84 ++++++++++--------- 1 file changed, 43 insertions(+), 41 deletions(-) diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h index 60a26f57d9..a122dd6027 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h @@ -26,7 +26,7 @@ // ADNS3080 hardware config #define ADNS3080_PIXELS_X 30 #define ADNS3080_PIXELS_Y 30 -#define ADNS3080_CLOCK_SPEED 24000000 +#define ADNS3080_CLOCK_SPEED 24000000 // Register Map for the ADNS3080 Optical OpticalFlow Sensor #define ADNS3080_PRODUCT_ID 0x00 @@ -65,69 +65,71 @@ #define ADNS3080_LED_MODE_ALWAYS_ON 0x00 #define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01 -#define ADNS3080_RESOLUTION_400 400 -#define ADNS3080_RESOLUTION_1600 1600 +#define ADNS3080_RESOLUTION_400 400 +#define ADNS3080_RESOLUTION_1600 1600 // Extended Configuration bits -#define ADNS3080_SERIALNPU_OFF 0x02 +#define ADNS3080_SERIALNPU_OFF 0x02 #define ADNS3080_FRAME_RATE_MAX 6469 #define ADNS3080_FRAME_RATE_MIN 2000 class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow { - private: +private: // bytes to store SPI settings - byte orig_spi_settings_spcr; - byte orig_spi_settings_spsr; + byte orig_spi_settings_spcr; + byte orig_spi_settings_spsr; - // save and restore SPI settings - byte backup_spi_settings(); - byte restore_spi_settings(); + // save and restore SPI settings + byte backup_spi_settings(); + byte restore_spi_settings(); - public: - int _cs_pin; // pin used for chip select - int _reset_pin; // pin used for chip reset - bool _motion; // true if there has been motion - bool _overflow; // true if the x or y data buffers overflowed +public: + int _cs_pin; // pin used for chip select + int _reset_pin; // pin used for chip reset + bool _motion; // true if there has been motion + bool _overflow; // true if the x or y data buffers overflowed - public: - AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET); - bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface) - byte read_register(byte address); - void write_register(byte address, byte value); - void reset(); // reset sensor by holding a pin high (or is it low?) for 10us. - bool update(); // read latest values from sensor and fill in x,y and totals, return true on successful read +public: + AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET); + bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface) + byte read_register(byte address); + void write_register(byte address, byte value); + void reset(); // reset sensor by holding a pin high (or is it low?) for 10us. + bool update(); // read latest values from sensor and fill in x,y and totals, return true on successful read - // ADNS3080 specific features - bool motion() { if( _motion ) { _motion = false; return true; }else{ return false; } } // return true if there has been motion since the last time this was called + // ADNS3080 specific features + bool motion() { + if( _motion ) { _motion = false; return true; }else{ return false; } + } // return true if there has been motion since the last time this was called - void disable_serial_pullup(); + void disable_serial_pullup(); - bool get_led_always_on(); // returns true if LED is always on, false if only on when required - void set_led_always_on( bool alwaysOn ); // set parameter to true if you want LED always on, otherwise false for only when required + bool get_led_always_on(); // returns true if LED is always on, false if only on when required + void set_led_always_on( bool alwaysOn ); // set parameter to true if you want LED always on, otherwise false for only when required - int get_resolution(); // returns resolution (either 400 or 1600 counts per inch) - void set_resolution(int resolution); // set parameter to 400 or 1600 counts per inch + int get_resolution(); // returns resolution (either 400 or 1600 counts per inch) + void set_resolution(int resolution); // set parameter to 400 or 1600 counts per inch - bool get_frame_rate_auto(); // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual - void set_frame_rate_auto(bool auto_frame_rate); // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false) + bool get_frame_rate_auto(); // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual + void set_frame_rate_auto(bool auto_frame_rate); // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false) - unsigned int get_frame_period(); // get_frame_period - - void set_frame_period(unsigned int period); + unsigned int get_frame_period(); // get_frame_period - + void set_frame_period(unsigned int period); - unsigned int get_frame_rate(); - void set_frame_rate(unsigned int rate); + unsigned int get_frame_rate(); + void set_frame_rate(unsigned int rate); - bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual - void set_shutter_speed_auto(bool auto_shutter_speed); // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false) + bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual + void set_shutter_speed_auto(bool auto_shutter_speed); // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false) - unsigned int get_shutter_speed(); - void set_shutter_speed(unsigned int shutter_speed); + unsigned int get_shutter_speed(); + void set_shutter_speed(unsigned int shutter_speed); - void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared + void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared - void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port + void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port }; #endif