AP_Baro: BMP085: follow coding style

- Spacing changes and variable renames to follow coding style
 - No need to initialize variables to 0, it's already done by our
   global new operator.

libraries/AP_Baro/AP_Baro_BMP085.cpp

@@ -13,20 +13,15 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-/*
-  BMP085 barometer driver. Based on original code by Jordi Munoz and
-  Jose Julio
-
-  Substantially modified by Andrew Tridgell
-*/
 #include "AP_Baro_BMP085.h"
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 
-extern const AP_HAL::HAL& hal;
+extern const AP_HAL::HAL &hal;
 
-#define BMP085_ADDRESS 0x77  //(0xEE >> 1)
+// 0xEE >> 1
+#define BMP085_ADDRESS 0x77
 
 #ifndef BMP085_EOC
 // No EOC connection from Baro
@@ -42,19 +37,8 @@ extern const AP_HAL::HAL& hal;
 // oversampling 3 gives 26ms conversion time. We then average
 #define OVERSAMPLING 3
 
-/*
+AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro)
-  constructor
+    : AP_Baro_Backend(baro)
- */
-AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
-    AP_Baro_Backend(baro),
-    _instance(0),
-    _temp_sum(0),
-    _press_sum(0),
-    _count(0),
-    BMP085_State(0),
-    ac1(0), ac2(0), ac3(0), b1(0), b2(0), mb(0), mc(0), md(0),
-    ac4(0), ac5(0), ac6(0),
-    _retry_time(0)
 {
     uint8_t buff[22];
 
@@ -93,48 +77,48 @@ AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
 
     _instance = _frontend.register_sensor();
 
-    //Send a command to read Temp
+    // Send a command to read temperature
-    Command_ReadTemp();
+    _cmd_read_temp();
 
     BMP085_State = 0;
 
     i2c_sem->give();
 }
 
-// Read the sensor. This is a state machine
+/*
-// acumulate a new sensor reading
+  This is a state machine. Acumulate a new sensor reading.
+ */
 void AP_Baro_BMP085::accumulate(void)
 {
     // get pointer to i2c bus semaphore
-    AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
+    AP_HAL::Semaphore *i2c_sem = hal.i2c->get_semaphore();
 
     if (!BMP_DATA_READY()) {
         return;
     }
 
     // take i2c bus sempahore
-    if (!i2c_sem->take(1))
+    if (!i2c_sem->take(1)) {
         return;
+    }
 
     if (BMP085_State == 0) {
-        ReadTemp();
+        _read_temp();
-    } else {
+    } else if (_read_pressure()) {
-        if (ReadPress()) {
+        _calculate();
-            Calculate();
-        }
     }
+
     BMP085_State++;
     if (BMP085_State == 5) {
         BMP085_State = 0;
-        Command_ReadTemp();
+        _cmd_read_temp();
     } else {
-        Command_ReadPress();
+        _cmd_read_pressure();
     }
 
     i2c_sem->give();
 }
 
-
 /*
   transfer data to the frontend
  */
@@ -158,16 +142,16 @@ void AP_Baro_BMP085::update(void)
 }
 
 // Send command to Read Pressure
-void AP_Baro_BMP085::Command_ReadPress()
+void AP_Baro_BMP085::_cmd_read_pressure()
 {
     // Mode 0x34+(OVERSAMPLING << 6) is osrs=3 when OVERSAMPLING=3 => 25.5ms conversion time
     hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4,
-                           0x34+(OVERSAMPLING << 6));
+                           0x34 + (OVERSAMPLING << 6));
     _last_press_read_command_time = AP_HAL::millis();
 }
 
-// Read Raw Pressure values
+// Read raw pressure values
-bool AP_Baro_BMP085::ReadPress()
+bool AP_Baro_BMP085::_read_pressure()
 {
     uint8_t buf[3];
 
@@ -177,21 +161,21 @@ bool AP_Baro_BMP085::ReadPress()
         return false;
     }
 
-    RawPress = (((uint32_t)buf[0] << 16) 
+    _raw_pressure = (((uint32_t)buf[0] << 16)
                      | ((uint32_t)buf[1] << 8)
                      | ((uint32_t)buf[2])) >> (8 - OVERSAMPLING);
     return true;
 }
 
 // Send Command to Read Temperature
-void AP_Baro_BMP085::Command_ReadTemp()
+void AP_Baro_BMP085::_cmd_read_temp()
 {
     hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, 0x2E);
     _last_temp_read_command_time = AP_HAL::millis();
 }
 
-// Read Raw Temperature values
+// Read raw temperature values
-void AP_Baro_BMP085::ReadTemp()
+void AP_Baro_BMP085::_read_temp()
 {
     uint8_t buf[2];
     int32_t _temp_sensor;
@@ -203,12 +187,11 @@ void AP_Baro_BMP085::ReadTemp()
     _temp_sensor = buf[0];
     _temp_sensor = (_temp_sensor << 8) | buf[1];
 
-    RawTemp = _temp_sensor;
+    _raw_temp = _temp_sensor;
 }
 
-
+// _calculate Temperature and Pressure in real units.
-// Calculate Temperature and Pressure in real units.
+void AP_Baro_BMP085::_calculate()
-void AP_Baro_BMP085::Calculate()
 {
     int32_t x1, x2, x3, b3, b5, b6, p;
     uint32_t b4, b7;
@@ -217,7 +200,7 @@ void AP_Baro_BMP085::Calculate()
     // See Datasheet page 13 for this formulas
     // Based also on Jee Labs BMP085 example code. Thanks for share.
     // Temperature calculations
-    x1 = ((int32_t)RawTemp - ac6) * ac5 >> 15;
+    x1 = ((int32_t)_raw_temp - ac6) * ac5 >> 15;
     x2 = ((int32_t) mc << 11) / (x1 + md);
     b5 = x1 + x2;
     _temp_sum += (b5 + 8) >> 4;
@@ -236,7 +219,7 @@ void AP_Baro_BMP085::Calculate()
     x2 = (b1 * (b6 * b6 >> 12)) >> 16;
     x3 = ((x1 + x2) + 2) >> 2;
     b4 = (ac4 * (uint32_t) (x3 + 32768)) >> 15;
-    b7 = ((uint32_t) RawPress - b3) * (50000 >> OVERSAMPLING);
+    b7 = ((uint32_t) _raw_pressure - b3) * (50000 >> OVERSAMPLING);
     p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
 
     x1 = (p >> 8) * (p >> 8);

libraries/AP_Baro/AP_Baro_BMP085.h

@@ -14,12 +14,18 @@ public:
     void accumulate(void);
 
 private:
+    void _cmd_read_pressure();
+    void _cmd_read_temp();
+    bool _read_pressure();
+    void _read_temp();
+    void _calculate();
+
     uint8_t _instance;
     float _temp_sum;
     float _press_sum;
     uint8_t _count;
 
-    // Flymaple has no EOC pin, so use times instead
+    // Boards with no EOC pin: use times instead
     uint32_t _last_press_read_command_time;
     uint32_t _last_temp_read_command_time;
 
@@ -31,12 +37,6 @@ private:
     uint16_t ac4, ac5, ac6;
 
     uint32_t _retry_time;
-    int32_t                         RawPress;
+    int32_t _raw_pressure;
-    int32_t                         RawTemp;
+    int32_t _raw_temp;
-
-    void                            Command_ReadPress();
-    void                            Command_ReadTemp();
-    bool                            ReadPress();
-    void                            ReadTemp();
-    void                            Calculate();
 };