diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index d83cfeb4d4bb6f1cd9f5fceb6ff2ca2ed4f2b5e6..6557746c1a0d67181049abf822bf0de759b9fb56 100644
--- a/src/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
@@ -262,8 +262,9 @@ BMA180::~BMA180()
stop();
/* free any existing reports */
- if (_reports != nullptr)
+ if (_reports != nullptr) {
delete _reports;
+ }
/* delete the perf counter */
perf_free(_sample_perf);
@@ -275,14 +276,16 @@ BMA180::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(2, sizeof(accel_report));
- if (_reports == nullptr)
+ if (_reports == nullptr) {
goto out;
+ }
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
@@ -308,9 +311,9 @@ BMA180::init()
/* disable writing to chip config */
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
- if (set_range(4)) warnx("Failed setting range");
+ if (set_range(4)) { warnx("Failed setting range"); }
- if (set_lowpass(75)) warnx("Failed setting lowpass");
+ if (set_lowpass(75)) { warnx("Failed setting lowpass"); }
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
ret = OK;
@@ -342,8 +345,9 @@ BMA180::probe()
/* dummy read to ensure SPI state machine is sane */
read_reg(ADDR_CHIP_ID);
- if (read_reg(ADDR_CHIP_ID) == CHIP_ID)
+ if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
return OK;
+ }
return -EIO;
}
@@ -356,8 +360,9 @@ BMA180::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) {
@@ -383,8 +388,9 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
measure();
/* measurement will have generated a report, copy it out */
- if (_reports->get(arp))
+ if (_reports->get(arp)) {
ret = sizeof(*arp);
+ }
return ret;
}
@@ -397,27 +403,27 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
switch (arg) {
- /* switching to manual polling */
+ /* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
- /* external signalling not supported */
+ /* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
- /* zero would be bad */
+ /* zero would be bad */
case 0:
return -EINVAL;
- /* set default/max polling rate */
+ /* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
/* With internal low pass filters enabled, 250 Hz is sufficient */
return ioctl(filp, SENSORIOCSPOLLRATE, 250);
- /* adjust to a legal polling interval in Hz */
+ /* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_interval == 0);
@@ -426,16 +432,18 @@ BMA180::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... */
_call.period = _call_interval = ticks;
/* if we need to start the poll state machine, do it */
- if (want_start)
+ if (want_start) {
start();
+ }
return OK;
}
@@ -443,25 +451,29 @@ BMA180::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 < 2) || (arg > 100))
- return -EINVAL;
-
- irqstate_t flags = irqsave();
- if (!_reports->resize(arg)) {
+ /* lower bound is mandatory, upper bound is a sanity check */
+ if ((arg < 2) || (arg > 100)) {
+ return -EINVAL;
+ }
+
+ irqstate_t flags = irqsave();
+
+ if (!_reports->resize(arg)) {
+ irqrestore(flags);
+ return -ENOMEM;
+ }
+
irqrestore(flags);
- return -ENOMEM;
+
+ return OK;
}
- irqrestore(flags);
-
- return OK;
- }
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
@@ -543,11 +555,13 @@ BMA180::set_range(unsigned max_g)
{
uint8_t rangebits;
- if (max_g == 0)
+ if (max_g == 0) {
max_g = 16;
+ }
- if (max_g > 16)
+ if (max_g > 16) {
return -ERANGE;
+ }
if (max_g <= 2) {
_current_range = 2;
@@ -700,7 +714,7 @@ BMA180::measure()
* measurement flow without using the external interrupt.
*/
report.timestamp = hrt_absolute_time();
- report.error_count = 0;
+ report.error_count = 0;
/*
* y of board is x of sensor and x of board is -y of sensor
* perform only the axis assignment here.
@@ -733,8 +747,9 @@ BMA180::measure()
poll_notify(POLLIN);
/* publish for subscribers */
- if (_accel_topic != nullptr && !(_pub_blocked))
+ if (_accel_topic != nullptr && !(_pub_blocked)) {
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
+ }
/* stop the perf counter */
perf_end(_sample_perf);
@@ -768,26 +783,31 @@ start()
{
int fd;
- if (g_dev != nullptr)
+ if (g_dev != nullptr) {
errx(1, "already started");
+ }
/* create the driver */
g_dev = new BMA180(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_ACCEL);
- 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(ACCEL_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;
+ }
exit(0);
fail:
@@ -820,14 +840,16 @@ test()
ACCEL_DEVICE_PATH);
/* reset to manual polling */
- if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
err(1, "reset to manual polling");
+ }
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
- if (sz != sizeof(a_report))
+ if (sz != sizeof(a_report)) {
err(1, "immediate acc read failed");
+ }
warnx("single read");
warnx("time: %lld", a_report.timestamp);
@@ -854,14 +876,17 @@ reset()
{
int fd = open(ACCEL_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, "driver poll restart failed");
+ }
exit(0);
}
@@ -872,8 +897,9 @@ reset()
void
info()
{
- if (g_dev == nullptr)
+ if (g_dev == nullptr) {
errx(1, "BMA180: driver not running");
+ }
printf("state @ %p\n", g_dev);
g_dev->print_info();
@@ -891,26 +917,30 @@ bma180_main(int argc, char *argv[])
* Start/load the driver.
*/
- if (!strcmp(argv[1], "start"))
+ if (!strcmp(argv[1], "start")) {
bma180::start();
+ }
/*
* Test the driver/device.
*/
- if (!strcmp(argv[1], "test"))
+ if (!strcmp(argv[1], "test")) {
bma180::test();
+ }
/*
* Reset the driver.
*/
- if (!strcmp(argv[1], "reset"))
+ if (!strcmp(argv[1], "reset")) {
bma180::reset();
+ }
/*
* Print driver information.
*/
- if (!strcmp(argv[1], "info"))
+ if (!strcmp(argv[1], "info")) {
bma180::info();
+ }
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}