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px4-firmware
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Formatting fixes

This commit is contained in:
Lorenz Meier 2014-10-28 13:10:39 +01:00
parent 8a0ad6075c
commit 1418254fca
1 changed files with 63 additions and 41 deletions
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104
src/drivers/px4flow/px4flow.cpp
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@ -129,30 +129,32 @@ public:
PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
virtual ~PX4FLOW();
virtual int init();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
void print_info();
protected:
virtual int probe();
virtual int probe();
private:
work_s _work;
RingBuffer *_reports; bool _sensor_ok;
int _measure_ticks; bool _collect_phase;
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
orb_advert_t _px4flow_topic;
orb_advert_t _px4flow_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
@ -161,7 +163,7 @@ private:
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
@ -169,27 +171,27 @@ private:
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
static void cycle_trampoline(void *arg);
};
@ -200,11 +202,14 @@ extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
PX4FLOW::PX4FLOW(int bus, int address) :
I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz
_reports(nullptr), _sensor_ok(false), _measure_ticks(0), _collect_phase(
false), _px4flow_topic(-1), _sample_perf(
perf_alloc(PC_ELAPSED, "px4flow_read")), _comms_errors(
perf_alloc(PC_COUNT, "px4flow_comms_errors")), _buffer_overflows(
perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_px4flow_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
@ -224,7 +229,8 @@ PX4FLOW::~PX4FLOW()
}
}
int PX4FLOW::init()
int
PX4FLOW::init()
{
int ret = ERROR;
@ -246,7 +252,8 @@ int PX4FLOW::init()
out: return ret;
}
int PX4FLOW::probe()
int
PX4FLOW::probe()
{
uint8_t val[22];
@ -262,7 +269,8 @@ int PX4FLOW::probe()
return measure();
}
int PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
int
PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@ -363,7 +371,8 @@ int PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
}
}
ssize_t PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
ssize_t
PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct optical_flow_s);
struct optical_flow_s *rbuf =
@ -426,7 +435,8 @@ ssize_t PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
return ret;
}
int PX4FLOW::measure()
int
PX4FLOW::measure()
{
int ret;
@ -448,7 +458,8 @@ int PX4FLOW::measure()
return ret;
}
int PX4FLOW::collect()
int
PX4FLOW::collect()
{
int ret = -EIO;
@ -562,7 +573,8 @@ int PX4FLOW::collect()
return ret;
}
void PX4FLOW::start()
void
PX4FLOW::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
@ -588,19 +600,22 @@ void PX4FLOW::start()
}
}
void PX4FLOW::stop()
void
PX4FLOW::stop()
{
work_cancel(HPWORK, &_work);
}
void PX4FLOW::cycle_trampoline(void *arg)
void
PX4FLOW::cycle_trampoline(void *arg)
{
PX4FLOW *dev = (PX4FLOW *) arg;
dev->cycle();
}
void PX4FLOW::cycle()
void
PX4FLOW::cycle()
{
if (OK != measure()) {
log("measure error");
@ -619,7 +634,8 @@ void PX4FLOW::cycle()
}
void PX4FLOW::print_info()
void
PX4FLOW::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@ -651,7 +667,8 @@ void info();
/**
* Start the driver.
*/
void start()
void
start()
{
int fd;
@ -696,7 +713,8 @@ fail:
/**
* Stop the driver
*/
void stop()
void
stop()
{
if (g_dev != nullptr) {
delete g_dev;
@ -714,7 +732,8 @@ void stop()
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void test()
void
test()
{
struct optical_flow_s report;
ssize_t sz;
@ -792,7 +811,8 @@ void test()
/**
* Reset the driver.
*/
void reset()
void
reset()
{
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
@ -814,7 +834,8 @@ void reset()
/**
* Print a little info about the driver.
*/
void info()
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
@ -828,7 +849,8 @@ void info()
} // namespace
int px4flow_main(int argc, char *argv[])
int
px4flow_main(int argc, char *argv[])
{
/*
* Start/load the driver.