From 0193517f30ba3451f90fc3f87b8f25a683f25f46 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Tue, 12 Jul 2016 18:51:50 -0300
Subject: [PATCH] AP_RangeFinder: LightWareI2C: use be16toh

While at it remove some trailing whitespaces and little reformats.
---
 .../AP_RangeFinder_LightWareI2C.cpp           | 26 ++++++++++---------
 1 file changed, 14 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
index 330975fa0d..420e6d240f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
@@ -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)