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AP_InertialSensor: L3G4200D: fix coding style

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- remove trailing and leading whitespaces
  - remove unecessary void from functions taking no parameters
This commit is contained in:
Lucas De Marchi 2016-01-19 02:29:56 -02:00
parent 637b53f4ce
commit 22f2a2ee09
2 changed files with 23 additions and 25 deletions
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41
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
View File

@ -85,7 +85,7 @@ const extern AP_HAL::HAL& hal;
#define L3G4200D_REG_AUTO_INCREMENT 0x80
// L3G4200D Gyroscope scaling
// running at 2000 DPS full range, 16 bit signed data, datasheet
// running at 2000 DPS full range, 16 bit signed data, datasheet
// specifies 70 mdps per bit
#define L3G4200D_GYRO_SCALE_R_S (DEG_TO_RAD * 70.0f * 0.001f)
@ -116,7 +116,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::detect(AP_InertialSensor
return sensor;
}
bool AP_InertialSensor_L3G4200D::_init_sensor(void)
bool AP_InertialSensor_L3G4200D::_init_sensor(void)
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
@ -150,8 +150,8 @@ bool AP_InertialSensor_L3G4200D::_init_sensor(void)
hal.scheduler->delay(5);
// enable FIFO in stream mode. This will allow us to read the accelerometers much less frequently
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM);
// Init the Gyro
@ -161,36 +161,36 @@ bool AP_InertialSensor_L3G4200D::_init_sensor(void)
AP_HAL::panic("AP_InertialSensor_L3G4200D: could not find L3G4200D gyro sensor");
// setup for 800Hz sampling with 110Hz filter
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
// setup for 2000 degrees/sec full range
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG4,
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG4,
L3G4200D_REG_CTRL_REG4_FS_2000);
hal.scheduler->delay(1);
// enable FIFO
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG5,
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG5,
L3G4200D_REG_CTRL_REG5_FIFO_EN);
hal.scheduler->delay(1);
@ -199,7 +199,7 @@ bool AP_InertialSensor_L3G4200D::_init_sensor(void)
L3G4200D_REG_FIFO_CTL,
L3G4200D_REG_FIFO_CTL_STREAM);
hal.scheduler->delay(1);
// give back i2c semaphore
i2c_sem->give();
@ -217,7 +217,7 @@ bool AP_InertialSensor_L3G4200D::_init_sensor(void)
/*
copy filtered data to the frontend
*/
bool AP_InertialSensor_L3G4200D::update(void)
bool AP_InertialSensor_L3G4200D::update(void)
{
update_gyro(_gyro_instance);
update_accel(_accel_instance);
@ -257,7 +257,7 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
if (num_samples_available > 0) {
// read all the entries in one go, using AUTO_INCREMENT. This saves a lot of time on I2C setup
int16_t buffer[num_samples_available][3];
if (hal.i2c->readRegisters(L3G4200D_I2C_ADDRESS, L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
if (hal.i2c->readRegisters(L3G4200D_I2C_ADDRESS, L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
sizeof(buffer), (uint8_t *)&buffer[0][0]) == 0) {
for (uint8_t i=0; i<num_samples_available; i++) {
Vector3f gyro = Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]);
@ -278,8 +278,8 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
// read the samples and apply the filter
if (num_samples_available > 0) {
int16_t buffer[num_samples_available][3];
if (hal.i2c->readRegistersMultiple(ADXL345_ACCELEROMETER_ADDRESS,
ADXL345_ACCELEROMETER_ADXLREG_DATAX0,
if (hal.i2c->readRegistersMultiple(ADXL345_ACCELEROMETER_ADDRESS,
ADXL345_ACCELEROMETER_ADXLREG_DATAX0,
sizeof(buffer[0]), num_samples_available,
(uint8_t *)&buffer[0][0]) == 0) {
for (uint8_t i=0; i<num_samples_available; i++) {
@ -296,5 +296,4 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
i2c_sem->give();
}
#endif // CONFIG_HAL_BOARD
#endif

7
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
View File

@ -14,7 +14,6 @@
class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_L3G4200D(AP_InertialSensor &imu);
~AP_InertialSensor_L3G4200D();
@ -25,11 +24,11 @@ public:
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
// return product ID
int16_t product_id(void) const { return AP_PRODUCT_ID_L3G4200D; }
int16_t product_id() const { return AP_PRODUCT_ID_L3G4200D; }
private:
bool _init_sensor(void);
void _accumulate(void);
bool _init_sensor();
void _accumulate();
// gyro and accel instances
uint8_t _gyro_instance;