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AP_RangeFinder: LightWareI2C: use be16toh

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While at it remove some trailing whitespaces and little reformats.
This commit is contained in:
Lucas De Marchi 2016-07-12 18:51:50 -03:00
parent 66fdfbb850
commit 0193517f30
1 changed files with 14 additions and 12 deletions
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26
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
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@ -13,25 +13,27 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RangeFinder_LightWareI2C.h"
#include <AP_HAL/AP_HAL.h>
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
extern const AP_HAL::HAL& hal;
/*
/*
The constructor also initializes the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) :
AP_RangeFinder_Backend(_ranger, instance, _state),
_dev(std::move(dev))
AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_ranger, instance, _state)
, _dev(std::move(dev))
{
}
/*
/*
detect if a Lightware rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
@ -54,7 +56,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder &_ranger
// read - return last value measured by sensor
bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm)
{
uint8_t buff[2];
be16_t val;
if (ranger._address[state.instance] == 0) {
return false;
@ -64,19 +66,19 @@ bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm)
if (!_dev->get_semaphore()->take(1)) {
return false;
}
// read the high and low byte distance registers
bool ret = _dev->read(buff, sizeof(buff));
bool ret = _dev->read((uint8_t *) &val, sizeof(val));
if (ret) {
// combine results into distance
reading_cm = ((uint16_t)buff[0]) << 8 | buff[1];
reading_cm = be16toh(val);
}
_dev->get_semaphore()->give();
return ret;
}
/*
/*
update the state of the sensor
*/
void AP_RangeFinder_LightWareI2C::update(void)