mechanical style fixups

apps/drivers/drv_mixer.h

@@ -71,8 +71,7 @@
 #define MIXERIOCRESET		_MIXERIOC(1)
 
 /** simple channel scaler */
-struct mixer_scaler_s
+struct mixer_scaler_s {
-{
 	float			negative_scale;
 	float			positive_scale;
 	float			offset;
@@ -81,16 +80,14 @@ struct mixer_scaler_s
 };
 
 /** mixer input */
-struct mixer_control_s
+struct mixer_control_s {
-{
 	uint8_t			control_group;	/**< group from which the input reads */
 	uint8_t			control_index;	/**< index within the control group */
 	struct mixer_scaler_s 	scaler;		/**< scaling applied to the input before use */
 };
 
 /** simple mixer */
-struct mixer_simple_s
+struct mixer_simple_s {
-{
 	uint8_t			control_count;	/**< number of inputs */
 	struct mixer_scaler_s	output_scaler;	/**< scaling for the output */
 	struct mixer_control_s	controls[0];	/**< actual size of the array is set by control_count */
@@ -104,15 +101,13 @@ struct mixer_simple_s
 #define MIXERIOCADDSIMPLE	_MIXERIOC(2)
 
 /** multirotor output definition */
-struct mixer_rotor_output_s
+struct mixer_rotor_output_s {
-{
 	float			angle;		/**< rotor angle clockwise from forward in radians */
 	float			distance;	/**< motor distance from centre in arbitrary units */
 };
 
 /** multirotor mixer */
-struct mixer_multirotor_s
+struct mixer_multirotor_s {
-{
 	uint8_t			rotor_count;
 	struct mixer_control_s	controls[4];	/**< controls are roll, pitch, yaw, thrust */
 	struct mixer_rotor_output_s rotors[0];	/**< actual size of the array is set by rotor_count */

apps/drivers/mpu6000/mpu6000.cpp

@@ -367,7 +367,7 @@ MPU6000::init()
 	// FS & DLPF   FS=2000¼/s, DLPF = 98Hz (low pass filter)
 	write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
 	usleep(1000);
-	write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS);  // Gyro scale 2000¼/s
+	write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); // Gyro scale 2000¼/s
 	usleep(1000);
 
 	// product-specific scaling
@@ -390,15 +390,16 @@ MPU6000::init()
 	case MPU6000_REV_D9:
 	case MPU6000_REV_D10:
 		// Accel scale 8g (4096 LSB/g)
-		write_reg(MPUREG_ACCEL_CONFIG,2<<3);
+		write_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
 		break;
 	}
+
 	usleep(1000);
 
 	// INT CFG => Interrupt on Data Ready
-	write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN);         // INT: Raw data ready
+	write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);        // INT: Raw data ready
 	usleep(1000);
-	write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR);  // INT: Clear on any read
+	write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
 	usleep(1000);
 
 	// Oscillator set
@@ -898,6 +899,7 @@ mpu6000_main(int argc, char *argv[])
 			g_dev = nullptr;
 			return -EIO;
 		}
+
 		return OK;
 	}
 

apps/px4/fmu/fmu.cpp

@@ -101,9 +101,9 @@ private:
 	void		task_main();
 
 	static int	control_callback_trampoline(uintptr_t handle,
-						    uint8_t control_group,
+			uint8_t control_group,
-						    uint8_t control_index,
+			uint8_t control_index,
-						    float &input);
+			float &input);
 	int		control_callback(uint8_t control_group,
 					 uint8_t control_index,
 					 float &input);
@@ -363,6 +363,7 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
 		} else {
 			*(unsigned *)arg = 2;
 		}
+
 		break;
 
 	case MIXERIOCRESET:
@@ -370,22 +371,27 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
 			delete _mixers;
 			_mixers = nullptr;
 		}
+
 		break;
 
 	case MIXERIOCADDSIMPLE: {
-		mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
+			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
 
-		SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo);
+			SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo);
-		if (mixer->check()) {
+
-			delete mixer;
+			if (mixer->check()) {
-			ret = -EINVAL;
+				delete mixer;
-		} else {
+				ret = -EINVAL;
-			if (_mixers == nullptr)
+
-				_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
+			} else {
-			_mixers->add_mixer(mixer);
+				if (_mixers == nullptr)
+					_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
+
+				_mixers->add_mixer(mixer);
+			}
+
+			break;
 		}
-		break;
-	}
 
 	case MIXERIOCADDMULTIROTOR:
 		/* XXX not yet supported */
@@ -393,20 +399,23 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
 		break;
 
 	case MIXERIOCLOADFILE: {
-		const char *path = (const char *)arg;
+			const char *path = (const char *)arg;
 
-		if (_mixers != nullptr) {
+			if (_mixers != nullptr) {
-			delete _mixers;
+				delete _mixers;
-			_mixers = nullptr;
+				_mixers = nullptr;
+			}
+
+			_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
+
+			if (_mixers->load_from_file(path) != 0) {
+				delete _mixers;
+				_mixers = nullptr;
+				ret = -EINVAL;
+			}
+
+			break;
 		}
-		_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
-		if (_mixers->load_from_file(path) != 0) {
-			delete _mixers;
-			_mixers = nullptr;
-			ret = -EINVAL;
-		}
-		break;
-	}
 
 	default:
 		ret = -ENOTTY;

apps/systemlib/hx_stream.h

@@ -65,8 +65,8 @@ __BEGIN_DECLS
  *			not be allocated.
  */
 __EXPORT extern hx_stream_t	hx_stream_init(int fd,
-				       hx_stream_rx_callback callback,
+		hx_stream_rx_callback callback,
-				       void *arg);
+		void *arg);
 
 /**
  * Free a hx_stream object.
@@ -106,8 +106,8 @@ __EXPORT extern void		hx_stream_set_counters(hx_stream_t stream,
  *			set on error.
  */
 __EXPORT extern int		hx_stream_send(hx_stream_t stream,
-				       const void *data,
+		const void *data,
-				       size_t count);
+		size_t count);
 
 /**
  * Handle a byte from the stream.
@@ -116,7 +116,7 @@ __EXPORT extern int		hx_stream_send(hx_stream_t stream,
  * @param c		The character to process.
  */
 __EXPORT extern void		hx_stream_rx(hx_stream_t stream,
-				     uint8_t c);
+		uint8_t c);
 
 __END_DECLS
 

apps/systemlib/mixer/mixer.cpp

@@ -116,6 +116,7 @@ NullMixer::mix(float *outputs, unsigned space)
 		*outputs = 0.0f;
 		return 1;
 	}
+
 	return 0;
 }
 
@@ -148,6 +149,7 @@ SimpleMixer::mix(float *outputs, unsigned space)
 
 	if (_info == nullptr)
 		return 0;
+
 	if (space < 1)
 		return 0;
 
@@ -161,6 +163,7 @@ SimpleMixer::mix(float *outputs, unsigned space)
 
 		sum += scale(_info->controls[i].scaler, input);
 	}
+
 	*outputs = scale(_info->output_scaler, sum);
 	return 1;
 }

apps/systemlib/mixer/mixer.h

@@ -149,10 +149,10 @@ public:
 	 * @param control		The returned control
 	 * @return			Zero if the value was fetched, nonzero otherwise.
 	 */
-	typedef int			(* ControlCallback)(uintptr_t handle,
+	typedef int	(* ControlCallback)(uintptr_t handle,
-							    uint8_t control_group,
+					    uint8_t control_group,
-							    uint8_t control_index,
+					    uint8_t control_index,
-							    float &control);
+					    float &control);
 
 	/**
 	 * Constructor.
@@ -336,8 +336,7 @@ private:
 class __EXPORT MultirotorMixer : public Mixer
 {
 public:
-	enum Geometry
+	enum Geometry {
-	{
 		MULTIROTOR_QUAD_PLUS,
 		MULTIROTOR_QUAD_X
 		/* XXX add more here */

apps/systemlib/mixer/mixer_group.cpp

@@ -171,10 +171,12 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
 
 	/* first, get the output scaler */
 	ret = mixer_getline(fd, buf, sizeof(buf));
+
 	if (ret < 1) {
 		debug("failed reading for output scaler");
 		goto fail;
 	}
+
 	if (mixer_parse_output_scaler(buf, mixinfo->output_scaler)) {
 		debug("failed parsing output scaler");
 		goto fail;
@@ -183,17 +185,20 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
 	/* now get any inputs */
 	for (unsigned i = 0; i < inputs; i++) {
 		ret = mixer_getline(fd, buf, sizeof(buf));
+
 		if (ret < 1) {
 			debug("failed reading for control scaler");
 			goto fail;
 		}
+
 		if (mixer_parse_control_scaler(buf,
-				       mixinfo->controls[i].scaler,
+					       mixinfo->controls[i].scaler,
-				       mixinfo->controls[i].control_group,
+					       mixinfo->controls[i].control_group,
-				       mixinfo->controls[i].control_index)) {
+					       mixinfo->controls[i].control_index)) {
 			debug("failed parsing control scaler");
 			goto fail;
 		}
+
 		debug("got control %d", i);
 	}
 
@@ -266,8 +271,10 @@ MixerGroup::add_mixer(Mixer *mixer)
 	Mixer **mpp;
 
 	mpp = &_first;
+
 	while (*mpp != nullptr)
 		mpp = &((*mpp)->_next);
+
 	*mpp = mixer;
 	mixer->_next = nullptr;
 }
@@ -282,6 +289,7 @@ MixerGroup::mix(float *outputs, unsigned space)
 		index += mixer->mix(outputs + index, space - index);
 		mixer = mixer->_next;
 	}
+
 	return index;
 }
 
@@ -303,6 +311,7 @@ MixerGroup::load_from_file(const char *path)
 		return -1;
 
 	int fd = open(path, O_RDONLY);
+
 	if (fd < 0) {
 		debug("failed to open %s", path);
 		return -1;