L3GD20: Fixed code style

src/drivers/l3gd20/l3gd20.cpp

@@ -407,10 +407,12 @@ const uint8_t L3GD20::_checked_registers[L3GD20_NUM_CHECKED_REGISTERS] = { ADDR_
 									   ADDR_CTRL_REG4,
 									   ADDR_CTRL_REG5,
 									   ADDR_FIFO_CTRL_REG,
-									   ADDR_LOW_ODR };
+									   ADDR_LOW_ODR
+									 };
 
 L3GD20::L3GD20(int bus, const char *path, spi_dev_e device, enum Rotation rotation) :
-	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
+	SPI("L3GD20", path, bus, device, SPIDEV_MODE3,
+	    11 * 1000 * 1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
 	_call{},
 	_call_interval(0),
 	_reports(nullptr),
@@ -456,11 +458,13 @@ L3GD20::~L3GD20()
 	stop();
 
 	/* free any existing reports */
-	if (_reports != nullptr)
+	if (_reports != nullptr) {
 		delete _reports;
+	}
 
-	if (_class_instance != -1)
+	if (_class_instance != -1) {
 		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _class_instance);
+	}
 
 	/* delete the perf counter */
 	perf_free(_sample_perf);
@@ -475,14 +479,16 @@ L3GD20::init()
 	int ret = ERROR;
 
 	/* do SPI init (and probe) first */
-	if (SPI::init() != OK)
+	if (SPI::init() != OK) {
 		goto out;
+	}
 
 	/* allocate basic report buffers */
 	_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
 
-	if (_reports == nullptr)
+	if (_reports == nullptr) {
 		goto out;
+	}
 
 	_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
 
@@ -520,9 +526,11 @@ L3GD20::probe()
 	if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM) {
 		_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
 		success = true;
+
 	} else if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_H) {
 		_orientation = SENSOR_BOARD_ROTATION_180_DEG;
 		success = true;
+
 	} else if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_L3G4200D) {
 		/* Detect the L3G4200D used on AeroCore */
 		_is_l3g4200d = true;
@@ -546,8 +554,9 @@ L3GD20::read(struct file *filp, char *buffer, size_t buflen)
 	int ret = 0;
 
 	/* buffer must be large enough */
-	if (count < 1)
+	if (count < 1) {
 		return -ENOSPC;
+	}
 
 	/* if automatic measurement is enabled */
 	if (_call_interval > 0) {
@@ -607,6 +616,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 				if (_is_l3g4200d) {
 					return ioctl(filp, SENSORIOCSPOLLRATE, L3G4200D_DEFAULT_RATE);
 				}
+
 				return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_DEFAULT_RATE);
 
 			/* adjust to a legal polling interval in Hz */
@@ -618,8 +628,9 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 					unsigned ticks = 1000000 / arg;
 
 					/* check against maximum sane rate */
-					if (ticks < 1000)
+					if (ticks < 1000) {
 						return -EINVAL;
+					}
 
 					/* update interval for next measurement */
 					/* XXX this is a bit shady, but no other way to adjust... */
@@ -633,8 +644,9 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 					set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
@@ -642,21 +654,25 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 		}
 
 	case SENSORIOCGPOLLRATE:
-		if (_call_interval == 0)
+		if (_call_interval == 0) {
 			return SENSOR_POLLRATE_MANUAL;
+		}
 
 		return 1000000 / _call_interval;
 
 	case SENSORIOCSQUEUEDEPTH: {
 			/* lower bound is mandatory, upper bound is a sanity check */
-		if ((arg < 1) || (arg > 100))
+			if ((arg < 1) || (arg > 100)) {
 				return -EINVAL;
+			}
 
 			irqstate_t flags = irqsave();
+
 			if (!_reports->resize(arg)) {
 				irqrestore(flags);
 				return -ENOMEM;
 			}
+
 			irqrestore(flags);
 
 			return OK;
@@ -741,6 +757,7 @@ void
 L3GD20::write_checked_reg(unsigned reg, uint8_t value)
 {
 	write_reg(reg, value);
+
 	for (uint8_t i = 0; i < L3GD20_NUM_CHECKED_REGISTERS; i++) {
 		if (reg == _checked_registers[i]) {
 			_checked_values[i] = value;
@@ -770,6 +787,7 @@ L3GD20::set_range(unsigned max_dps)
 	if (max_dps == 0) {
 		max_dps = 2000;
 	}
+
 	if (max_dps <= 250) {
 		new_range = 250;
 		bits |= RANGE_250DPS;
@@ -824,6 +842,7 @@ L3GD20::set_samplerate(unsigned frequency)
 	} else if (frequency <= 800) {
 		_current_rate = _is_l3g4200d ? 800 : 760;
 		bits |= RATE_760HZ_LP_50HZ;
+
 	} else {
 		return -EINVAL;
 	}
@@ -867,10 +886,12 @@ void
 L3GD20::disable_i2c(void)
 {
 	uint8_t retries = 10;
+
 	while (retries--) {
 		// add retries
 		uint8_t a = read_reg(0x05);
 		write_reg(0x05, (0x20 | a));
+
 		if (read_reg(0x05) == (a | 0x20)) {
 			// this sets the I2C_DIS bit on the
 			// L3GD20H. The l3gd20 datasheet doesn't
@@ -880,6 +901,7 @@ L3GD20::disable_i2c(void)
 			return;
 		}
 	}
+
 	DEVICE_DEBUG("FAILED TO DISABLE I2C");
 }
 
@@ -923,6 +945,7 @@ void
 L3GD20::check_registers(void)
 {
 	uint8_t v;
+
 	if ((v = read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) {
 		/*
 		  if we get the wrong value then we know the SPI bus
@@ -941,8 +964,10 @@ L3GD20::check_registers(void)
 		if (_checked_next != 0) {
 			write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
 		}
+
 		_register_wait = 20;
 	}
+
 	_checked_next = (_checked_next + 1) % L3GD20_NUM_CHECKED_REGISTERS;
 }
 
@@ -1084,8 +1109,10 @@ L3GD20::print_info()
 	perf_print_counter(_duplicates);
 	_reports->print_info("report queue");
 	::printf("checked_next: %u\n", _checked_next);
+
 	for (uint8_t i = 0; i < L3GD20_NUM_CHECKED_REGISTERS; i++) {
 		uint8_t v = read_reg(_checked_registers[i]);
+
 		if (v != _checked_values[i]) {
 			::printf("reg %02x:%02x should be %02x\n",
 				 (unsigned)_checked_registers[i],
@@ -1099,13 +1126,16 @@ void
 L3GD20::print_registers()
 {
 	printf("L3GD20 registers\n");
+
 	for (uint8_t reg = 0; reg <= 0x40; reg++) {
 		uint8_t v = read_reg(reg);
 		printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
+
 		if ((reg + 1) % 16 == 0) {
 			printf("\n");
 		}
 	}
+
 	printf("\n");
 }
 
@@ -1120,20 +1150,29 @@ int
 L3GD20::self_test()
 {
 	/* evaluate gyro offsets, complain if offset -> zero or larger than 25 dps */
-	if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.x_offset) < 0.000001f)
+	if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.x_offset) < 0.000001f) {
-		return 1;
-	if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f)
 		return 1;
+	}
 
-	if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.y_offset) < 0.000001f)
+	if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f) {
-		return 1;
-	if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f)
 		return 1;
+	}
 
-	if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.z_offset) < 0.000001f)
+	if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.y_offset) < 0.000001f) {
 		return 1;
-	if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f)
+	}
+
+	if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f) {
 		return 1;
+	}
+
+	if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.z_offset) < 0.000001f) {
+		return 1;
+	}
+
+	if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f) {
+		return 1;
+	}
 
 	return 0;
 }
@@ -1165,8 +1204,9 @@ start(bool external_bus, enum Rotation rotation)
 {
 	int fd;
 
-	if (g_dev != nullptr)
+	if (g_dev != nullptr) {
 		errx(0, "already started");
+	}
 
 	/* create the driver */
 	if (external_bus) {
@@ -1175,24 +1215,29 @@ start(bool external_bus, enum Rotation rotation)
 #else
 		errx(0, "External SPI not available");
 #endif
+
 	} else {
 		g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO, rotation);
 	}
 
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		goto fail;
+	}
 
-	if (OK != g_dev->init())
+	if (OK != g_dev->init()) {
 		goto fail;
+	}
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(L3GD20_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		goto fail;
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		goto fail;
+	}
 
 	close(fd);
 
@@ -1222,18 +1267,21 @@ test()
 	/* get the driver */
 	fd_gyro = open(L3GD20_DEVICE_PATH, O_RDONLY);
 
-	if (fd_gyro < 0)
+	if (fd_gyro < 0) {
 		err(1, "%s open failed", L3GD20_DEVICE_PATH);
+	}
 
 	/* reset to manual polling */
-	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
+	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
 		err(1, "reset to manual polling");
+	}
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
 
-	if (sz != sizeof(g_report))
+	if (sz != sizeof(g_report)) {
 		err(1, "immediate gyro read failed");
+	}
 
 	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
 	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
@@ -1246,8 +1294,9 @@ test()
 	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
 	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
 
-	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "reset to default polling");
+	}
 
 	close(fd_gyro);
 
@@ -1263,14 +1312,17 @@ reset()
 {
 	int fd = open(L3GD20_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "failed ");
+	}
 
-	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
 		err(1, "driver reset failed");
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "accel pollrate reset failed");
+	}
 
 	close(fd);
 
@@ -1283,8 +1335,9 @@ reset()
 void
 info()
 {
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		errx(1, "driver not running\n");
+	}
 
 	printf("state @ %p\n", g_dev);
 	g_dev->print_info();
@@ -1298,8 +1351,9 @@ info()
 void
 regdump(void)
 {
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		errx(1, "driver not running");
+	}
 
 	printf("regdump @ %p\n", g_dev);
 	g_dev->print_registers();
@@ -1313,8 +1367,9 @@ regdump(void)
 void
 test_error(void)
 {
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		errx(1, "driver not running");
+	}
 
 	printf("regdump @ %p\n", g_dev);
 	g_dev->test_error();
@@ -1346,9 +1401,11 @@ l3gd20_main(int argc, char *argv[])
 		case 'X':
 			external_bus = true;
 			break;
+
 		case 'R':
 			rotation = (enum Rotation)atoi(optarg);
 			break;
+
 		default:
 			l3gd20::usage();
 			exit(0);
@@ -1361,38 +1418,44 @@ l3gd20_main(int argc, char *argv[])
 	 * Start/load the driver.
 
 	 */
-	if (!strcmp(verb, "start"))
+	if (!strcmp(verb, "start")) {
 		l3gd20::start(external_bus, rotation);
+	}
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(verb, "test"))
+	if (!strcmp(verb, "test")) {
 		l3gd20::test();
+	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(verb, "reset"))
+	if (!strcmp(verb, "reset")) {
 		l3gd20::reset();
+	}
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(verb, "info"))
+	if (!strcmp(verb, "info")) {
 		l3gd20::info();
+	}
 
 	/*
 	 * Print register information.
 	 */
-	if (!strcmp(verb, "regdump"))
+	if (!strcmp(verb, "regdump")) {
 		l3gd20::regdump();
+	}
 
 	/*
 	 * trigger an error
 	 */
-	if (!strcmp(verb, "testerror"))
+	if (!strcmp(verb, "testerror")) {
 		l3gd20::test_error();
+	}
 
 	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'");
 }