From a8ed24da6ca85c456fad077021678f29db9d507e Mon Sep 17 00:00:00 2001 From: uncrustify Date: Tue, 21 Aug 2012 19:19:51 -0700 Subject: [PATCH] uncrustify libraries/AP_GPS/AP_GPS_SIRF.cpp --- libraries/AP_GPS/AP_GPS_SIRF.cpp | 90 ++++++++++++++++---------------- 1 file changed, 45 insertions(+), 45 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_SIRF.cpp b/libraries/AP_GPS/AP_GPS_SIRF.cpp index 94d4601c10..f327e1fa15 100644 --- a/libraries/AP_GPS/AP_GPS_SIRF.cpp +++ b/libraries/AP_GPS/AP_GPS_SIRF.cpp @@ -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; }