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uncrustify libraries/AP_GPS/AP_GPS_SIRF.cpp

This commit is contained in:
uncrustify 2012-08-21 19:19:51 -07:00 committed by Pat Hickey
parent 074f3ae872
commit a8ed24da6c
1 changed files with 45 additions and 45 deletions
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90
libraries/AP_GPS/AP_GPS_SIRF.cpp
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@ -18,7 +18,7 @@
//
// XXX the bytes show up on the wire, but at least my test unit (EM-411) seems to ignore them.
//
static uint8_t init_messages[] = {
static uint8_t init_messages[] = {
0xa0, 0xa2, 0x00, 0x08, 0xa6, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa8, 0xb0, 0xb3,
0xa0, 0xa2, 0x00, 0x08, 0xa6, 0x00, 0x29, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd0, 0xb0, 0xb3
};
@ -55,9 +55,9 @@ AP_GPS_SIRF::init(enum GPS_Engine_Setting nav_setting)
bool
AP_GPS_SIRF::read(void)
{
uint8_t data;
int16_t numc;
bool parsed = false;
uint8_t data;
int16_t numc;
bool parsed = false;
numc = _port->available();
while(numc--) {
@ -67,32 +67,32 @@ AP_GPS_SIRF::read(void)
switch(_step) {
// Message preamble detection
//
// If we fail to match any of the expected bytes, we reset
// the state machine and re-consider the failed byte as
// the first byte of the preamble. This improves our
// chances of recovering from a mismatch and makes it less
// likely that we will be fooled by the preamble appearing
// as data in some other message.
//
// Message preamble detection
//
// If we fail to match any of the expected bytes, we reset
// the state machine and re-consider the failed byte as
// the first byte of the preamble. This improves our
// chances of recovering from a mismatch and makes it less
// likely that we will be fooled by the preamble appearing
// as data in some other message.
//
case 1:
if (PREAMBLE2 == data) {
_step++;
break;
}
_step = 0;
// FALLTHROUGH
// FALLTHROUGH
case 0:
if(PREAMBLE1 == data)
_step++;
break;
// Message length
//
// We always collect the length so that we can avoid being
// fooled by preamble bytes in messages.
//
// Message length
//
// We always collect the length so that we can avoid being
// fooled by preamble bytes in messages.
//
case 2:
_step++;
_payload_length = (uint16_t)data << 8;
@ -104,11 +104,11 @@ AP_GPS_SIRF::read(void)
_checksum = 0;
break;
// Message header processing
//
// We sniff the message ID to determine whether we are going
// to gather the message bytes or just discard them.
//
// Message header processing
//
// We sniff the message ID to determine whether we are going
// to gather the message bytes or just discard them.
//
case 4:
_step++;
_accumulate(data);
@ -124,17 +124,17 @@ AP_GPS_SIRF::read(void)
}
break;
// Receive message data
//
// Note that we are effectively guaranteed by the protocol
// that the checksum and postamble cannot be mistaken for
// the preamble, so if we are discarding bytes in this
// message when the payload is done we return directly
// to the preamble detector rather than bothering with
// the checksum logic.
//
// Receive message data
//
// Note that we are effectively guaranteed by the protocol
// that the checksum and postamble cannot be mistaken for
// the preamble, so if we are discarding bytes in this
// message when the payload is done we return directly
// to the preamble detector rather than bothering with
// the checksum logic.
//
case 5:
if (_gather) { // gather data if requested
if (_gather) { // gather data if requested
_accumulate(data);
_buffer.bytes[_payload_counter] = data;
if (++_payload_counter == _payload_length)
@ -145,8 +145,8 @@ AP_GPS_SIRF::read(void)
}
break;
// Checksum and message processing
//
// Checksum and message processing
//
case 6:
_step++;
if ((_checksum >> 8) != data) {
@ -161,7 +161,7 @@ AP_GPS_SIRF::read(void)
break;
}
if (_gather) {
parsed = _parse_gps(); // Parse the new GPS packet
parsed = _parse_gps(); // Parse the new GPS packet
}
}
}
@ -173,17 +173,17 @@ AP_GPS_SIRF::_parse_gps(void)
{
switch(_msg_id) {
case MSG_GEONAV:
time = _swapl(&_buffer.nav.time);
time = _swapl(&_buffer.nav.time);
//fix = (0 == _buffer.nav.fix_invalid) && (FIX_3D == (_buffer.nav.fix_type & FIX_MASK));
fix = (0 == _buffer.nav.fix_invalid);
latitude = _swapl(&_buffer.nav.latitude);
longitude = _swapl(&_buffer.nav.longitude);
altitude = _swapl(&_buffer.nav.altitude_msl);
ground_speed = _swapi(&_buffer.nav.ground_speed);
fix = (0 == _buffer.nav.fix_invalid);
latitude = _swapl(&_buffer.nav.latitude);
longitude = _swapl(&_buffer.nav.longitude);
altitude = _swapl(&_buffer.nav.altitude_msl);
ground_speed = _swapi(&_buffer.nav.ground_speed);
// at low speeds, ground course wanders wildly; suppress changes if we are not moving
if (ground_speed > 50)
ground_course = _swapi(&_buffer.nav.ground_course);
num_sats = _buffer.nav.satellites;
ground_course = _swapi(&_buffer.nav.ground_course);
num_sats = _buffer.nav.satellites;
return true;
}