From da9feeb699ff89df63d5ad9e5e79f3054e71b6db Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 9 Jun 2020 17:38:09 +0200
Subject: [PATCH] INA226: refactor spacing and return codes

---
 src/drivers/power_monitor/ina226/ina226.cpp   | 24 +++++++++----------
 src/drivers/power_monitor/ina226/ina226.h     | 14 +++--------
 .../power_monitor/ina226/ina226_main.cpp      |  4 ++--
 3 files changed, 16 insertions(+), 26 deletions(-)

diff --git a/src/drivers/power_monitor/ina226/ina226.cpp b/src/drivers/power_monitor/ina226/ina226.cpp
index aca2c9f5d3..5b5c30f2d3 100644
--- a/src/drivers/power_monitor/ina226/ina226.cpp
+++ b/src/drivers/power_monitor/ina226/ina226.cpp
@@ -112,7 +112,7 @@ int INA226::read(uint8_t address)
 
 	int ret = transfer(&address, 1, &data.b[0], sizeof(data.b));
 
-	if (OK != ret) {
+	if (ret != PX4_OK) {
 		perf_count(_comms_errors);
 		PX4_DEBUG("i2c::transfer returned %d", ret);
 		return -1;
@@ -133,7 +133,7 @@ INA226::init()
 	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
-	if (I2C::init() != OK) {
+	if (I2C::init() != PX4_OK) {
 		return ret;
 	}
 
@@ -151,13 +151,13 @@ INA226::init()
 		ret = write(INA226_REG_CONFIGURATION, _config);
 
 	} else {
-		ret = OK;
+		ret = PX4_OK;
 	}
 
 	start();
 	_sensor_ok = true;
 
-	_initialized = ret == OK;
+	_initialized = ret == PX4_OK;
 	return ret;
 }
 
@@ -196,13 +196,13 @@ INA226::probe()
 		return -1;
 	}
 
-	return OK;
+	return PX4_OK;
 }
 
 int
 INA226::measure()
 {
-	int ret = OK;
+	int ret = PX4_OK;
 
 	if (_mode_triggered) {
 		ret = write(INA226_REG_CONFIGURATION, _config);
@@ -266,7 +266,7 @@ INA226::collect()
 			_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE]
 		);
 
-		ret = OK;
+		ret = PX4_OK;
 
 	} else {
 		_battery.updateBatteryStatus(
@@ -281,7 +281,7 @@ INA226::collect()
 		ret = -1;
 	}
 
-	if (ret != OK) {
+	if (ret != PX4_OK) {
 		PX4_DEBUG("error reading from sensor: %d", ret);
 		perf_count(_comms_errors);
 	}
@@ -309,9 +309,8 @@ INA226::RunImpl()
 {
 	if (_initialized) {
 		if (_collect_phase) {
-
 			/* perform collection */
-			if (OK != collect()) {
+			if (collect() != PX4_OK) {
 				perf_count(_collection_errors);
 				/* if error restart the measurement state machine */
 				start();
@@ -322,7 +321,6 @@ INA226::RunImpl()
 			_collect_phase = !_mode_triggered;
 
 			if (_measure_interval > INA226_CONVERSION_INTERVAL) {
-
 				/* schedule a fresh cycle call when we are ready to measure again */
 				ScheduleDelayed(_measure_interval - INA226_CONVERSION_INTERVAL);
 				return;
@@ -332,7 +330,7 @@ INA226::RunImpl()
 		/* Measurement  phase */
 
 		/* Perform measurement */
-		if (OK != measure()) {
+		if (measure() != PX4_OK) {
 			perf_count(_measure_errors);
 		}
 
@@ -353,7 +351,7 @@ INA226::RunImpl()
 			0.0f
 		);
 
-		if (init() != OK) {
+		if (init() != PX4_OK) {
 			ScheduleDelayed(INA226_INIT_RETRY_INTERVAL_US);
 		}
 	}
diff --git a/src/drivers/power_monitor/ina226/ina226.h b/src/drivers/power_monitor/ina226/ina226.h
index 06f2c8846e..7a27cb27d0 100644
--- a/src/drivers/power_monitor/ina226/ina226.h
+++ b/src/drivers/power_monitor/ina226/ina226.h
@@ -129,7 +129,7 @@ public:
 	 * Tries to call the init() function. If it fails, then it will schedule to retry again in
 	 * INA226_INIT_RETRY_INTERVAL_US microseconds. It will keep retrying at this interval until initialization succeeds.
 	 *
-	 * @return OK if initialization succeeded on the first try. Negative value otherwise.
+	 * @return PX4_OK if initialization succeeded on the first try. Negative value otherwise.
 	 */
 	int force_init();
 
@@ -171,16 +171,8 @@ private:
 	uORB::Subscription  _actuators_sub{ORB_ID(actuator_controls_0)};
 	uORB::Subscription  _parameters_sub{ORB_ID(parameter_update)};
 
-
-	/**
-	* Test whetpower_monitorhe device supported by the driver is present at a
-	* specific address.
-	*
-	* @param address	The I2C bus address to read or write.
-	* @return			.
-	*/
-	int               read(uint8_t address);
-	int               write(uint8_t address, uint16_t data);
+	int read(uint8_t address);
+	int write(uint8_t address, uint16_t data);
 
 	/**
 	* Initialise the automatic measurement state machine and start it.
diff --git a/src/drivers/power_monitor/ina226/ina226_main.cpp b/src/drivers/power_monitor/ina226/ina226_main.cpp
index 81e7b961e7..c2471ce484 100644
--- a/src/drivers/power_monitor/ina226/ina226_main.cpp
+++ b/src/drivers/power_monitor/ina226/ina226_main.cpp
@@ -16,11 +16,11 @@ I2CSPIDriverBase *INA226::instantiate(const BusCLIArguments &cli, const BusInsta
 	}
 
 	if (cli.custom1 == 1) {
-		if (instance->force_init() != OK) {
+		if (instance->force_init() != PX4_OK) {
 			PX4_INFO("Failed to init INA226 on bus %d, but will try again periodically.", iterator.bus());
 		}
 
-	} else if (OK != instance->init()) {
+	} else if (instance->init() != PX4_OK) {
 		delete instance;
 		return nullptr;
 	}