AP_Baro: LPS22H: correct formatting

libraries/AP_Baro/AP_Baro_LPS2XH.cpp

@@ -25,24 +25,23 @@ extern const AP_HAL::HAL &hal;
 #define LPS22HB_WHOAMI 0xB1
 #define LPS25HB_WHOAMI 0xBD
 
-#define REG_ID		      					0x0F
-
-#define LPS22H_ID       					0xB1
-#define LPS22H_CTRL_REG1		0x10
-#define LPS22H_CTRL_REG2		0x11
-#define LPS22H_CTRL_REG3		0x12
-
-#define LPS22H_CTRL_REG1_SIM				(1 << 0)
-#define LPS22H_CTRL_REG1_BDU				(1 << 1)
-#define LPS22H_CTRL_REG1_LPFP_CFG	(1 << 2)
-#define LPS22H_CTRL_REG1_EN_LPFP	(1 << 3)
-#define LPS22H_CTRL_REG1_PD				(0 << 4)
-#define LPS22H_CTRL_REG1_ODR_1HZ	(1 << 4)
-#define LPS22H_CTRL_REG1_ODR_10HZ	(2 << 4)
-#define LPS22H_CTRL_REG1_ODR_25HZ	(3 << 4)
-#define LPS22H_CTRL_REG1_ODR_50HZ	(4 << 4)
-#define LPS22H_CTRL_REG1_ODR_75HZ	(5 << 4)
-
+#define REG_ID                     0x0F
+
+#define LPS22H_ID                  0xB1
+#define LPS22H_CTRL_REG1           0x10
+#define LPS22H_CTRL_REG2           0x11
+#define LPS22H_CTRL_REG3           0x12
+
+#define LPS22H_CTRL_REG1_SIM       (1 << 0)
+#define LPS22H_CTRL_REG1_BDU       (1 << 1)
+#define LPS22H_CTRL_REG1_LPFP_CFG  (1 << 2)
+#define LPS22H_CTRL_REG1_EN_LPFP   (1 << 3)
+#define LPS22H_CTRL_REG1_PD        (0 << 4)
+#define LPS22H_CTRL_REG1_ODR_1H    (1 << 4)
+#define LPS22H_CTRL_REG1_ODR_10HZ  (2 << 4)
+#define LPS22H_CTRL_REG1_ODR_25HZ  (3 << 4)
+#define LPS22H_CTRL_REG1_ODR_50HZ  (4 << 4)
+#define LPS22H_CTRL_REG1_ODR_75HZ  (5 << 4)
 
 #define LPS25H_CTRL_REG1_ADDR      0x20
 #define LPS25H_CTRL_REG2_ADDR      0x21
@@ -67,11 +66,13 @@ AP_Baro_Backend *AP_Baro_LPS2XH::probe(AP_Baro &baro,
     if (!dev) {
         return nullptr;
     }
+
     AP_Baro_LPS2XH *sensor = new AP_Baro_LPS2XH(baro, std::move(dev));
     if (!sensor || !sensor->_init()) {
         delete sensor;
         return nullptr;
     }
+
     return sensor;
 }
 
@@ -82,6 +83,7 @@ AP_Baro_Backend *AP_Baro_LPS2XH::probe_InvensenseIMU(AP_Baro &baro,
     if (!dev) {
         return nullptr;
     }
+
     AP_Baro_LPS2XH *sensor = new AP_Baro_LPS2XH(baro, std::move(dev));
     if (sensor) {
         if (!sensor->_imu_i2c_init(imu_address)) {
@@ -89,10 +91,12 @@ AP_Baro_Backend *AP_Baro_LPS2XH::probe_InvensenseIMU(AP_Baro &baro,
             return nullptr;
         }
     }
+
     if (!sensor || !sensor->_init()) {
         delete sensor;
         return nullptr;
     }
+
     return sensor;
 }
 
@@ -105,11 +109,12 @@ bool AP_Baro_LPS2XH::_imu_i2c_init(uint8_t imu_address)
     if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return false;
     }
+
     // as the baro device is already locked we need to re-use it,
     // changing its address to match the IMU address
     uint8_t old_address = _dev->get_bus_address();
     _dev->set_address(imu_address);
-    
+
     _dev->set_retries(4);
 
     uint8_t whoami=0;
@@ -118,7 +123,7 @@ bool AP_Baro_LPS2XH::_imu_i2c_init(uint8_t imu_address)
 
     _dev->write_register(MPUREG_FIFO_EN, 0x00);
     _dev->write_register(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_XGYRO);
-    
+
     // wait for sensor to settle
     hal.scheduler->delay(10);
 
@@ -136,20 +141,21 @@ bool AP_Baro_LPS2XH::_init()
     if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return false;
     }
+
     _has_sample = false;
 
     _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
 
     // top bit is for read on SPI
     _dev->set_read_flag(0x80);
-    
-    if(!_check_whoami()){
+
+    if (!_check_whoami()) {
         _dev->get_semaphore()->give();
         return false;
     }
 
     //init control registers.
-    if(_lps2xh_type == BARO_LPS25H){
+    if (_lps2xh_type == BARO_LPS25H) {
     	_dev->write_register(LPS25H_CTRL_REG1_ADDR,0x00); // turn off for config
     	_dev->write_register(LPS25H_CTRL_REG2_ADDR,0x00); //FIFO Disabled
     	_dev->write_register(LPS25H_FIFO_CTRL, 0x01);
@@ -158,7 +164,8 @@ bool AP_Baro_LPS2XH::_init()
     	// request 25Hz update (maximum refresh Rate according to datasheet)
     	CallTime = 40 * AP_USEC_PER_MSEC;
     }
-    if(_lps2xh_type == BARO_LPS22H){
+
+    if (_lps2xh_type == BARO_LPS22H) {
         _dev->write_register(LPS22H_CTRL_REG1, 0x00); // turn off for config
         _dev->write_register(LPS22H_CTRL_REG1, LPS22H_CTRL_REG1_ODR_75HZ|LPS22H_CTRL_REG1_BDU|LPS22H_CTRL_REG1_EN_LPFP|LPS22H_CTRL_REG1_LPFP_CFG);
         if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
@@ -167,7 +174,7 @@ bool AP_Baro_LPS2XH::_init()
             _dev->write_register(LPS22H_CTRL_REG2, 0x10);
         }
 
-		// request 75Hz update
+        // request 75Hz update
         CallTime = 1000000/75;
     }
 
@@ -184,23 +191,23 @@ bool AP_Baro_LPS2XH::_init()
 bool AP_Baro_LPS2XH::_check_whoami(void)
 {
     uint8_t whoami;
-    if (! _dev->read_registers(REG_ID, &whoami, 1)) {
+    if (!_dev->read_registers(REG_ID, &whoami, 1)) {
 	   return false;
     }
     hal.console->printf("LPS2XH whoami 0x%02x\n", whoami);
 
     switch(whoami){
-    case	LPS22HB_WHOAMI:
-    	_lps2xh_type = BARO_LPS22H;
-    	return true;
+    case LPS22HB_WHOAMI:
+        _lps2xh_type = BARO_LPS22H;
+        return true;
     case LPS25HB_WHOAMI:
-    	_lps2xh_type = BARO_LPS25H;
-    	return true;
+        _lps2xh_type = BARO_LPS25H;
+        return true;
     }
+
     return false;
 }
 
-
 //  acumulate a new sensor reading
 void AP_Baro_LPS2XH::_timer(void)
 {
@@ -209,12 +216,15 @@ void AP_Baro_LPS2XH::_timer(void)
     if (!_dev->read_registers(STATUS_ADDR, &status, 1)) {
         return;
     }
+
     if (status & 0x02) {
         _update_temperature();
     }
+
     if (status & 0x01) {
         _update_pressure();
     }
+
     _has_sample = true;
 }
 
@@ -227,6 +237,7 @@ void AP_Baro_LPS2XH::update(void)
 
     WITH_SEMAPHORE(_sem);
     _copy_to_frontend(_instance, _pressure, _temperature);
+
     _has_sample = false;
 }
 
@@ -238,12 +249,13 @@ void AP_Baro_LPS2XH::_update_temperature(void)
         return;
     }
     int16_t Temp_Reg_s16 = (uint16_t)(pu8[1]<<8) | pu8[0];
-    
+
     WITH_SEMAPHORE(_sem);
 
     if (_lps2xh_type == BARO_LPS25H) {
         _temperature = (Temp_Reg_s16 * (1.0/480)) + 42.5;
     }
+
     if (_lps2xh_type == BARO_LPS22H) {
         _temperature = Temp_Reg_s16 * 0.01;
     }
@@ -256,6 +268,7 @@ void AP_Baro_LPS2XH::_update_pressure(void)
     if (!_dev->read_registers(PRESS_OUT_XL_ADDR, pressure, 3)) {
         return;
     }
+
     int32_t Pressure_Reg_s32 = ((uint32_t)pressure[2]<<16)|((uint32_t)pressure[1]<<8)|(uint32_t)pressure[0];
     int32_t Pressure_mb = Pressure_Reg_s32 * (100.0f / 4096); // scale for pa