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AP_RangeFinder: fixed tabs -> spaces

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This commit is contained in:
Andrew Tridgell 2016-11-12 13:55:30 +11:00
parent 41018feb3a
commit 5f3c14ea01
1 changed files with 28 additions and 28 deletions
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56
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
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@ -23,18 +23,18 @@
extern const AP_HAL::HAL& hal;
/* LL40LS Registers addresses */
#define LL40LS_MEASURE_REG 0x00 /* Measure range register */
#define LL40LS_DISTHIGH_REG 0x0F /* High byte of distance register, auto increment */
#define LL40LS_COUNT 0x11
#define LL40LS_HW_VERSION 0x41
#define LL40LS_INTERVAL 0x45
#define LL40LS_SW_VERSION 0x4f
#define LL40LS_MEASURE_REG 0x00 /* Measure range register */
#define LL40LS_DISTHIGH_REG 0x0F /* High byte of distance register, auto increment */
#define LL40LS_COUNT 0x11
#define LL40LS_HW_VERSION 0x41
#define LL40LS_INTERVAL 0x45
#define LL40LS_SW_VERSION 0x4f
// bit values
#define LL40LS_MSRREG_RESET 0x00 /* reset to power on defaults */
#define LL40LS_AUTO_INCREMENT 0x80
#define LL40LS_COUNT_CONTINUOUS 0xff
#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */
#define LL40LS_MSRREG_RESET 0x00 /* reset to power on defaults */
#define LL40LS_AUTO_INCREMENT 0x80
#define LL40LS_COUNT_CONTINUOUS 0xff
#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */
// i2c address
#define LL40LS_ADDR 0x62
@ -113,24 +113,24 @@ bool AP_RangeFinder_PulsedLightLRF::timer(void)
a table of settings for a lidar
*/
struct settings_table {
uint8_t reg;
uint8_t value;
uint8_t reg;
uint8_t value;
};
/*
register setup table for V1 Lidar
*/
static const struct settings_table settings_v1[] = {
{ LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET },
{ LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET },
};
/*
register setup table for V2 Lidar
*/
static const struct settings_table settings_v2[] = {
{ LL40LS_INTERVAL, 0x28 }, // 0x28 == 50Hz
{ LL40LS_COUNT, LL40LS_COUNT_CONTINUOUS },
{ LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE },
{ LL40LS_INTERVAL, 0x28 }, // 0x28 == 50Hz
{ LL40LS_COUNT, LL40LS_COUNT_CONTINUOUS },
{ LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE },
};
/*
@ -141,7 +141,7 @@ bool AP_RangeFinder_PulsedLightLRF::init(void)
if (!_dev || !_dev->get_semaphore()->take(0)) {
return false;
}
_dev->set_retries(3);
_dev->set_retries(3);
if (!(_dev->read_registers(LL40LS_HW_VERSION, &hw_version, 1) &&
hw_version > 0 &&
@ -154,24 +154,24 @@ bool AP_RangeFinder_PulsedLightLRF::init(void)
}
_dev->get_semaphore()->give();
v2_hardware = (hw_version >= 0x15);
v2_hardware = (hw_version >= 0x15);
const struct settings_table *table;
uint8_t num_settings;
const struct settings_table *table;
uint8_t num_settings;
if (v2_hardware) {
table = settings_v2;
num_settings = sizeof(settings_v2) / sizeof(settings_table);
if (v2_hardware) {
table = settings_v2;
num_settings = sizeof(settings_v2) / sizeof(settings_table);
phase = PHASE_COLLECT;
} else {
table = settings_v1;
num_settings = sizeof(settings_v1) / sizeof(settings_table);
} else {
table = settings_v1;
num_settings = sizeof(settings_v1) / sizeof(settings_table);
phase = PHASE_MEASURE;
}
}
_dev->setup_checked_registers(num_settings);
for (uint8_t i = 0; i < num_settings; i++) {
for (uint8_t i = 0; i < num_settings; i++) {
_dev->write_register(table[i].reg, table[i].value, true);
}