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Minor format/whitespace changes courtesy of AStyle

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This commit is contained in:
Robert Dickenson
2016-03-08 12:52:31 +11:00
committed by Lorenz Meier
parent 76e3f92fb4
commit 481e28aae1
5 changed files with 45 additions and 18 deletions
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src/drivers/mpu9250/mag.cpp
+21 -1
View File
@@ -154,9 +154,11 @@ MPU9250_mag::~MPU9250_mag()
if (_mag_class_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _mag_class_instance);
}
if (_mag_reports != nullptr) {
delete _mag_reports;
}
perf_free(_mag_reads);
}
@@ -174,6 +176,7 @@ MPU9250_mag::init()
}
_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
if (_mag_reports == nullptr) {
goto out;
}
@@ -187,7 +190,7 @@ MPU9250_mag::init()
_mag_reports->get(&mrp);
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
&_mag_orb_class_instance, ORB_PRIO_LOW);
&_mag_orb_class_instance, ORB_PRIO_LOW);
// &_mag_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
if (_mag_topic == nullptr) {
@@ -208,15 +211,18 @@ MPU9250_mag::measure(struct ak8963_regs data)
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | sizeof(struct ak8963_regs));
_mag_reading_data = true;
return;
} else {
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | 1);
_mag_reading_data = false;
}
} else {
if (true == _mag_reading_data) {
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | 1);
_mag_reading_data = false;
}
return;
}
@@ -294,6 +300,7 @@ MPU9250_mag::read(struct file *filp, char *buffer, size_t buflen)
if (!_mag_reports->get(mrp)) {
break;
}
transferred++;
mrp++;
}
@@ -345,6 +352,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
if (MPU9250_AK8963_SAMPLE_RATE != arg) {
return -EINVAL;
}
return OK;
}
}
@@ -378,6 +386,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
return MPU9250_AK8963_SAMPLE_RATE;
case MAGIOCSSAMPLERATE:
/*
* We don't currently support any means of changing
* the sampling rate of the mag
@@ -385,6 +394,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
if (MPU9250_AK8963_SAMPLE_RATE != arg) {
return -EINVAL;
}
return OK;
case MAGIOCSSCALE:
@@ -407,11 +417,13 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
return self_test();
#ifdef MAGIOCSHWLOWPASS
case MAGIOCSHWLOWPASS:
return -EINVAL;
#endif
#ifdef MAGIOCGHWLOWPASS
case MAGIOCGHWLOWPASS:
return -EINVAL;
#endif
@@ -433,12 +445,15 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
uint8_t addr;
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
if (out) {
_parent->write_reg(MPUREG_I2C_SLV0_D0, *out);
addr = AK8963_I2C_ADDR;
} else {
addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
}
_parent->write_reg(MPUREG_I2C_SLV0_ADDR, addr);
_parent->write_reg(MPUREG_I2C_SLV0_REG, reg);
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, size | BIT_I2C_SLVO_EN);
@@ -470,10 +485,12 @@ MPU9250_mag::ak8963_check_id(void)
for (int i = 0; i < 5; i++) {
uint8_t deviceid = 0;
passthrough_read(AK8963REG_WIA, &deviceid, 0x01);
if (AK8963_DEVICE_ID == deviceid) {
return true;
}
}
return false;
}
/*
@@ -503,13 +520,16 @@ MPU9250_mag::ak8963_read_adjustments(void)
usleep(50);
passthrough_read(AK8963REG_ASAX, response, 3);
passthrough_write(AK8963REG_CNTL1, AK8963_POWERDOWN_MODE);
for (int i = 0; i < 3; i++) {
if (0 != response[i] && 0xff != response[i]) {
ak8963_ASA[i] = ((float)(response[i] - 128) / 256.0f) + 1.0f;
} else {
return false;
}
}
_mag_asa_x = ak8963_ASA[0];
_mag_asa_y = ak8963_ASA[1];
_mag_asa_z = ak8963_ASA[2];
src/drivers/mpu9250/mag.h
+7 -7
View File
@@ -34,13 +34,13 @@
class MPU9250;
#pragma pack(push, 1)
struct ak8963_regs {
uint8_t st1;
int16_t x;
int16_t y;
int16_t z;
uint8_t st2;
};
struct ak8963_regs {
uint8_t st1;
int16_t x;
int16_t y;
int16_t z;
uint8_t st2;
};
#pragma pack(pop)
/**
src/drivers/mpu9250/main.cpp
+4 -3
View File
@@ -117,7 +117,7 @@ start(bool external_bus, enum Rotation rotation)
const char *path_mag = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;
if (*g_dev_ptr != nullptr)
/* if already started, the still command succeeded */
/* if already started, the still command succeeded */
{
errx(0, "already started");
}
@@ -202,8 +202,9 @@ test(bool external_bus)
/* get the driver */
int fd = open(path_accel, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'm start')", path_accel);
}
/* get the driver */
int fd_gyro = open(path_gyro, O_RDONLY);
@@ -344,7 +345,7 @@ info(bool external_bus)
void
regdump(bool external_bus)
{
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr == nullptr) {
errx(1, "driver not running");
src/drivers/mpu9250/mpu9250.cpp
+9 -4
View File
@@ -213,7 +213,8 @@ const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPU
};
MPU9250::MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device, enum Rotation rotation) :
MPU9250::MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device,
enum Rotation rotation) :
SPI("MPU9250", path_accel, bus, device, SPIDEV_MODE3, MPU9250_LOW_BUS_SPEED),
_gyro(new MPU9250_gyro(this, path_gyro)),
_mag(new MPU9250_mag(this, path_mag)),
@@ -340,6 +341,7 @@ MPU9250::init()
}
ret = probe();
if (ret != OK) {
DEVICE_DEBUG("MPU9250 probe failed");
return ret;
@@ -1235,7 +1237,7 @@ MPU9250::check_registers(void)
_checked_next = (_checked_next + 1) % MPU9250_NUM_CHECKED_REGISTERS;
}
bool MPU9250::check_null_data(uint32_t* data, uint8_t size)
bool MPU9250::check_null_data(uint32_t *data, uint8_t size)
{
while (size--) {
if (*data++) {
@@ -1243,6 +1245,7 @@ bool MPU9250::check_null_data(uint32_t* data, uint8_t size)
return false;
}
}
// all zero data - probably a SPI bus error
perf_count(_bad_transfers);
perf_end(_sample_perf);
@@ -1253,7 +1256,7 @@ bool MPU9250::check_null_data(uint32_t* data, uint8_t size)
return true;
}
bool MPU9250::check_duplicate(uint8_t* accel_data)
bool MPU9250::check_duplicate(uint8_t *accel_data)
{
/*
see if this is duplicate accelerometer data. Note that we
@@ -1268,10 +1271,12 @@ bool MPU9250::check_duplicate(uint8_t* accel_data)
perf_end(_sample_perf);
perf_count(_duplicates);
_got_duplicate = true;
} else {
memcpy(&_last_accel_data, accel_data, sizeof(_last_accel_data));
_got_duplicate = false;
}
return _got_duplicate;
}
@@ -1329,7 +1334,7 @@ MPU9250::measure()
report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
if (check_null_data((uint32_t*)&report, sizeof(report) / 4)) {
if (check_null_data((uint32_t *)&report, sizeof(report) / 4)) {
return;
}
src/drivers/mpu9250/mpu9250.h
+4 -3
View File
@@ -20,7 +20,8 @@ class MPU9250_gyro;
class MPU9250 : public device::SPI
{
public:
MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device, enum Rotation rotation);
MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device,
enum Rotation rotation);
virtual ~MPU9250();
virtual int init();
@@ -110,8 +111,8 @@ private:
// last temperature reading for print_info()
float _last_temperature;
bool check_null_data(uint32_t* data, uint8_t size);
bool check_duplicate(uint8_t* accel_data);
bool check_null_data(uint32_t *data, uint8_t size);
bool check_duplicate(uint8_t *accel_data);
// keep last accel reading for duplicate detection
uint8_t _last_accel_data[6];
bool _got_duplicate;