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uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.cpp

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uncrustify 2012-08-16 23:20:51 -07:00 committed by Pat Hickey
parent 8f5c22d448
commit dcee71d442
1 changed files with 245 additions and 245 deletions
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56
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.cpp
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@ -1,27 +1,27 @@
/* /*
AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for Ardupilot Mega * AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for Ardupilot Mega
Code by Randy Mackay. DIYDrones.com * Code by Randy Mackay. DIYDrones.com
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*
External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode) * External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)
TXD2 = MOSI = pin PH1 * TXD2 = MOSI = pin PH1
RXD2 = MISO = pin PH0 * RXD2 = MISO = pin PH0
XCK2 = SCK = pin PH2 * XCK2 = SCK = pin PH2
Chip Select pin is PC4 (33) [PH6 (9)] * Chip Select pin is PC4 (33) [PH6 (9)]
We are using the 16 clocks per conversion timming to increase efficiency (fast) * We are using the 16 clocks per conversion timming to increase efficiency (fast)
The sampling frequency is 400Hz (Timer2 overflow interrupt) * The sampling frequency is 400Hz (Timer2 overflow interrupt)
So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so * So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
we have an 4x oversampling and averaging. * we have an 4x oversampling and averaging.
*
Methods: * Methods:
Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt) * Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters * Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters
*
*/ */
#include "AP_OpticalFlow_ADNS3080.h" #include "AP_OpticalFlow_ADNS3080.h"
#include "SPI.h" #include "SPI.h"
@ -73,7 +73,7 @@ union NumericIntType
byte byteValue[2]; byte byteValue[2];
}; };
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
AP_OpticalFlow_ADNS3080_APM2::AP_OpticalFlow_ADNS3080_APM2(int cs_pin, int reset_pin) : _cs_pin(cs_pin), _reset_pin(reset_pin) AP_OpticalFlow_ADNS3080_APM2::AP_OpticalFlow_ADNS3080_APM2(int cs_pin, int reset_pin) : _cs_pin(cs_pin), _reset_pin(reset_pin)
{ {
num_pixels = ADNS3080_PIXELS_X; num_pixels = ADNS3080_PIXELS_X;
@ -87,13 +87,13 @@ unsigned char AP_OpticalFlow_ADNS3080_APM2::SPI_transfer(uint8_t data)
{ {
/* Wait for empty transmit buffer */ /* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) ); while ( !( UCSR3A & (1<<UDRE3)) ) ;
/* Put data into buffer, sends the data */ /* Put data into buffer, sends the data */
UDR3 = data; UDR3 = data;
/* Wait for data to be received */ /* Wait for data to be received */
while ( !(UCSR3A & (1<<RXC3)) ); while ( !(UCSR3A & (1<<RXC3)) ) ;
/* Get and return received data from buffer */ /* Get and return received data from buffer */
return UDR3; return UDR3;
@ -154,7 +154,7 @@ void AP_OpticalFlow_ADNS3080_APM2::backup_spi_settings()
uint8_t temp; uint8_t temp;
/* Wait for empty transmit buffer */ /* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) ); while ( !( UCSR3A & (1<<UDRE3)) ) ;
// store current spi values // store current spi values
orig_spi_settings_ucsr3c = UCSR3C; orig_spi_settings_ucsr3c = UCSR3C;
@ -170,7 +170,7 @@ void AP_OpticalFlow_ADNS3080_APM2::backup_spi_settings()
void AP_OpticalFlow_ADNS3080_APM2::restore_spi_settings() void AP_OpticalFlow_ADNS3080_APM2::restore_spi_settings()
{ {
/* Wait for empty transmit buffer */ /* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) ); while ( !( UCSR3A & (1<<UDRE3)) ) ;
// restore UCSRC3C and UBRR3 // restore UCSRC3C and UBRR3
UCSR3C = orig_spi_settings_ucsr3c; UCSR3C = orig_spi_settings_ucsr3c;