uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.cpp

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.cpp

@@ -1,52 +1,52 @@
 /*
-	AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for Ardupilot Mega
-	Code by Randy Mackay. DIYDrones.com
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)
-	TXD2 = MOSI = pin PH1
-	RXD2 = MISO = pin PH0
-	XCK2 = SCK = pin PH2
-	Chip Select pin is PC4 (33)   [PH6 (9)]
-	We are using the 16 clocks per conversion timming to increase efficiency (fast)
-	The sampling frequency is 400Hz (Timer2 overflow interrupt)
-	So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
-	we have an 4x oversampling and averaging.
-
-	Methods:
-		Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
-		Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters
-
-*/
+ *       AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for Ardupilot Mega
+ *       Code by Randy Mackay. DIYDrones.com
+ *
+ *       This library is free software; you can redistribute it and/or
+ *   modify it under the terms of the GNU Lesser General Public
+ *   License as published by the Free Software Foundation; either
+ *   version 2.1 of the License, or (at your option) any later version.
+ *
+ *       External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)
+ *       TXD2 = MOSI = pin PH1
+ *       RXD2 = MISO = pin PH0
+ *       XCK2 = SCK = pin PH2
+ *       Chip Select pin is PC4 (33)   [PH6 (9)]
+ *       We are using the 16 clocks per conversion timming to increase efficiency (fast)
+ *       The sampling frequency is 400Hz (Timer2 overflow interrupt)
+ *       So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
+ *       we have an 4x oversampling and averaging.
+ *
+ *       Methods:
+ *               Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
+ *               Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters
+ *
+ */
 
 #include "AP_OpticalFlow_ADNS3080.h"
 #include "SPI.h"
 #if defined(ARDUINO) && ARDUINO >= 100
-	#include "Arduino.h"
+ #include "Arduino.h"
 #else
-	#include "WProgram.h"
+ #include "WProgram.h"
 #endif
 
 #define AP_SPI_TIMEOUT 1000
 
 // We use Serial Port 2 in SPI Mode
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-	#define AP_SPI_DATAIN      15    // MISO
-	#define AP_SPI_DATAOUT     14    // MOSI
-	#define AP_SPI_CLOCK       PJ2   // SCK
+ #define AP_SPI_DATAIN      15           // MISO
+ #define AP_SPI_DATAOUT     14           // MOSI
+ #define AP_SPI_CLOCK       PJ2          // SCK
 #else  // normal arduino SPI pins...these need to be checked
-	# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
+ # error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
 #endif
 
 // mask for saving bit order and data mode to avoid interference with other users of the bus
 #define UCSR3C_MASK 0x07
 
 // SPI3 setting for UCSR3C
-#define SPI3_MODE_SPI 0xC0	// UMSEL31 = 1, UMSEL30 = 1
+#define SPI3_MODE_SPI 0xC0      // UMSEL31 = 1, UMSEL30 = 1
 
 // settings for phase and polarity bits of UCSR3C
 #define SPI3_MODE_MASK 0x03
@@ -63,22 +63,22 @@
 
 #define SPI3_SPEED 0x04 // 2 megahertz?
 
-#define SPI3_DELAY 20	// delay in microseconds after sending data
+#define SPI3_DELAY 20   // delay in microseconds after sending data
 
 
 union NumericIntType
 {
-   int         intValue;
-   unsigned int uintValue;
-   byte        byteValue[2];
+    int intValue;
+    unsigned int uintValue;
+    byte byteValue[2];
 };
 
-	// Constructors ////////////////////////////////////////////////////////////////
+// Constructors ////////////////////////////////////////////////////////////////
 AP_OpticalFlow_ADNS3080_APM2::AP_OpticalFlow_ADNS3080_APM2(int cs_pin, int reset_pin) : _cs_pin(cs_pin), _reset_pin(reset_pin)
 {
-	num_pixels = ADNS3080_PIXELS_X;
-	field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
-	scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
+    num_pixels = ADNS3080_PIXELS_X;
+    field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
+    scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
 }
 
 // SPI Methods
@@ -86,17 +86,17 @@ AP_OpticalFlow_ADNS3080_APM2::AP_OpticalFlow_ADNS3080_APM2(int cs_pin, int reset
 unsigned char AP_OpticalFlow_ADNS3080_APM2::SPI_transfer(uint8_t data)
 {
 
-	/* Wait for empty transmit buffer */
-	while ( !( UCSR3A & (1<<UDRE3)) );
+    /* Wait for empty transmit buffer */
+    while ( !( UCSR3A & (1<<UDRE3)) ) ;
 
-	/* Put data into buffer, sends the data */
-	UDR3 = data;
+    /* Put data into buffer, sends the data */
+    UDR3 = data;
 
-	/* Wait for data to be received */
-	while ( !(UCSR3A & (1<<RXC3)) );
-	
-	/* Get and return received data from buffer */
-	return UDR3;
+    /* Wait for data to be received */
+    while ( !(UCSR3A & (1<<RXC3)) ) ;
+
+    /* Get and return received data from buffer */
+    return UDR3;
 }
 
 // Public Methods //////////////////////////////////////////////////////////////
@@ -107,42 +107,42 @@ AP_OpticalFlow_ADNS3080_APM2::init(bool initCommAPI)
 {
     int retry = 0;
 
-	pinMode(AP_SPI_DATAOUT,OUTPUT);
-	pinMode(AP_SPI_DATAIN,INPUT);
-	pinMode(AP_SPI_CLOCK,OUTPUT);
-	pinMode(_cs_pin,OUTPUT);
-	if( _reset_pin != 0)
-	    pinMode(ADNS3080_RESET,OUTPUT);
-
-	digitalWrite(_cs_pin,HIGH);                 // disable device (Chip select is active low)
-
-	// reset the device
-	reset();
-
-	// start the SPI library:
-	if( initCommAPI ) {
-		// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
-		UBRR3 = 0;
-		DDRJ |= (1<<PJ2);                                   // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
-		// put UART3 into SPI master mode
-		UCSR3C = SPI3_MODE_SPI | SPI3_MODE;
-		// Enable receiver and transmitter.
-		UCSR3B = (1<<RXEN3)|(1<<TXEN3);
-		// Set Baud rate
-		UBRR3 = SPI3_SPEED;         // SPI running at 8Mhz
-	}
-	
-	delay(10);
-
-	// check the sensor is functioning
-	while( retry < 3 ) {
-	    if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
-	        return true;
-		}
-	    retry++;
-	}
-
-	return false;
+    pinMode(AP_SPI_DATAOUT,OUTPUT);
+    pinMode(AP_SPI_DATAIN,INPUT);
+    pinMode(AP_SPI_CLOCK,OUTPUT);
+    pinMode(_cs_pin,OUTPUT);
+    if( _reset_pin != 0)
+        pinMode(ADNS3080_RESET,OUTPUT);
+
+    digitalWrite(_cs_pin,HIGH);                     // disable device (Chip select is active low)
+
+    // reset the device
+    reset();
+
+    // start the SPI library:
+    if( initCommAPI ) {
+        // Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
+        UBRR3 = 0;
+        DDRJ |= (1<<PJ2);                                           // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
+        // put UART3 into SPI master mode
+        UCSR3C = SPI3_MODE_SPI | SPI3_MODE;
+        // Enable receiver and transmitter.
+        UCSR3B = (1<<RXEN3)|(1<<TXEN3);
+        // Set Baud rate
+        UBRR3 = SPI3_SPEED;                 // SPI running at 8Mhz
+    }
+
+    delay(10);
+
+    // check the sensor is functioning
+    while( retry < 3 ) {
+        if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
+            return true;
+        }
+        retry++;
+    }
+
+    return false;
 }
 
 //
@@ -151,29 +151,29 @@ AP_OpticalFlow_ADNS3080_APM2::init(bool initCommAPI)
 void AP_OpticalFlow_ADNS3080_APM2::backup_spi_settings()
 {
 
-	uint8_t temp;
+    uint8_t temp;
 
-	/* Wait for empty transmit buffer */
-	while ( !( UCSR3A & (1<<UDRE3)) );
+    /* Wait for empty transmit buffer */
+    while ( !( UCSR3A & (1<<UDRE3)) ) ;
 
-	// store current spi values
-	orig_spi_settings_ucsr3c = UCSR3C;
-	orig_spi_settings_ubrr3 = UBRR3;
+    // store current spi values
+    orig_spi_settings_ucsr3c = UCSR3C;
+    orig_spi_settings_ubrr3 = UBRR3;
 
-	// decide new value for UCSR3C
-	temp = (orig_spi_settings_ucsr3c & ~UCSR3C_MASK) | SPI3_MODE | SPI3_MSBFIRST;
-	UCSR3C = temp;
-	UBRR3 = SPI3_SPEED;         // SPI running at 1Mhz
+    // decide new value for UCSR3C
+    temp = (orig_spi_settings_ucsr3c & ~UCSR3C_MASK) | SPI3_MODE | SPI3_MSBFIRST;
+    UCSR3C = temp;
+    UBRR3 = SPI3_SPEED;             // SPI running at 1Mhz
 }
 
 // restore_spi_settings - restores SPI settings (clock speed, etc) to what their values were before the sensor used the bus
 void AP_OpticalFlow_ADNS3080_APM2::restore_spi_settings()
 {
-	/* Wait for empty transmit buffer */
-	while ( !( UCSR3A & (1<<UDRE3)) );
+    /* Wait for empty transmit buffer */
+    while ( !( UCSR3A & (1<<UDRE3)) ) ;
 
-	// restore UCSRC3C and UBRR3
-	UCSR3C = orig_spi_settings_ucsr3c;
+    // restore UCSRC3C and UBRR3
+    UCSR3C = orig_spi_settings_ucsr3c;
     UBRR3 = orig_spi_settings_ubrr3;
 }
 
@@ -185,24 +185,24 @@ AP_OpticalFlow_ADNS3080_APM2::read_register(byte address)
 
     backup_spi_settings();
 
-	// take the chip select low to select the device
+    // take the chip select low to select the device
     digitalWrite(_cs_pin, LOW);
-	
+
     // send the device the register you want to read:
     junk = SPI_transfer(address);
-	
-	// small delay
-	delayMicroseconds(SPI3_DELAY);
-	
-	// send a value of 0 to read the first byte returned:
+
+    // small delay
+    delayMicroseconds(SPI3_DELAY);
+
+    // send a value of 0 to read the first byte returned:
     result = SPI_transfer(0x00);
 
     // take the chip select high to de-select:
     digitalWrite(_cs_pin, HIGH);
 
-	restore_spi_settings();
+    restore_spi_settings();
 
-	return result;
+    return result;
 }
 
 // write a value to one of the sensor's registers
@@ -213,22 +213,22 @@ AP_OpticalFlow_ADNS3080_APM2::write_register(byte address, byte value)
 
     backup_spi_settings();
 
-	// take the chip select low to select the device
+    // take the chip select low to select the device
     digitalWrite(_cs_pin, LOW);
 
-	// send register address
+    // send register address
     junk = SPI_transfer(address | 0x80 );
 
-	// small delay
-	delayMicroseconds(SPI3_DELAY);
+    // small delay
+    delayMicroseconds(SPI3_DELAY);
 
-	// send data
-	junk = SPI_transfer(value);
+    // send data
+    junk = SPI_transfer(value);
 
     // take the chip select high to de-select:
     digitalWrite(_cs_pin, HIGH);
 
-	restore_spi_settings();
+    restore_spi_settings();
 }
 
 // reset sensor by holding a pin high (or is it low?) for 10us.
@@ -237,11 +237,11 @@ AP_OpticalFlow_ADNS3080_APM2::reset()
 {
     // return immediately if the reset pin is not defined
     if( _reset_pin == 0)
-	    return;
+        return;
 
     digitalWrite(_reset_pin,HIGH);                 // reset sensor
-	delayMicroseconds(10);
-	digitalWrite(_reset_pin,LOW);                  // return sensor to normal
+    delayMicroseconds(10);
+    digitalWrite(_reset_pin,LOW);                      // return sensor to normal
 }
 
 // read latest values from sensor and fill in x,y and totals
@@ -250,42 +250,42 @@ AP_OpticalFlow_ADNS3080_APM2::update()
 {
     byte motion_reg;
     surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    delayMicroseconds(SPI3_DELAY);      // small delay
 
     // check for movement, update x,y values
-	motion_reg = read_register(ADNS3080_MOTION);
-	_overflow = ((motion_reg & 0x10) != 0);  // check if we've had an overflow
-	if( (motion_reg & 0x80) != 0 ) {
-		raw_dx = ((char)read_register(ADNS3080_DELTA_X));
-		delayMicroseconds(SPI3_DELAY);  // small delay
-		raw_dy = ((char)read_register(ADNS3080_DELTA_Y));
-		_motion = true;
-	}else{
-	    raw_dx = 0;
-		raw_dy = 0;
-	}
-
-	last_update = millis();
-
-	apply_orientation_matrix();
-
-	return true;
+    motion_reg = read_register(ADNS3080_MOTION);
+    _overflow = ((motion_reg & 0x10) != 0);      // check if we've had an overflow
+    if( (motion_reg & 0x80) != 0 ) {
+        raw_dx = ((char)read_register(ADNS3080_DELTA_X));
+        delayMicroseconds(SPI3_DELAY);          // small delay
+        raw_dy = ((char)read_register(ADNS3080_DELTA_Y));
+        _motion = true;
+    }else{
+        raw_dx = 0;
+        raw_dy = 0;
+    }
+
+    last_update = millis();
+
+    apply_orientation_matrix();
+
+    return true;
 }
 
 void
 AP_OpticalFlow_ADNS3080_APM2::disable_serial_pullup()
 {
     byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
-	regVal = (regVal | ADNS3080_SERIALNPU_OFF);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	write_register(ADNS3080_EXTENDED_CONFIG, regVal);
+    regVal = (regVal | ADNS3080_SERIALNPU_OFF);
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    write_register(ADNS3080_EXTENDED_CONFIG, regVal);
 }
 
 // get_led_always_on - returns true if LED is always on, false if only on when required
 bool
 AP_OpticalFlow_ADNS3080_APM2::get_led_always_on()
 {
-	return ( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x40) > 0 );
+    return ( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x40) > 0 );
 }
 
 // set_led_always_on - set parameter to true if you want LED always on, otherwise false for only when required
@@ -294,8 +294,8 @@ AP_OpticalFlow_ADNS3080_APM2::set_led_always_on( bool alwaysOn )
 {
     byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
     regVal = (regVal & 0xbf) | (alwaysOn << 6);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	write_register(ADNS3080_CONFIGURATION_BITS, regVal);
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    write_register(ADNS3080_CONFIGURATION_BITS, regVal);
 }
 
 // returns resolution (either 400 or 1600 counts per inch)
@@ -303,9 +303,9 @@ int
 AP_OpticalFlow_ADNS3080_APM2::get_resolution()
 {
     if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 )
-	    return 400;
-	else
-	    return 1600;
+        return 400;
+    else
+        return 1600;
 }
 
 // set parameter to 400 or 1600 counts per inch
@@ -314,19 +314,19 @@ AP_OpticalFlow_ADNS3080_APM2::set_resolution(int resolution)
 {
     byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
 
-    if( resolution == ADNS3080_RESOLUTION_400 )	{
-	    regVal &= ~0x10;
-		scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
-	}else if( resolution == ADNS3080_RESOLUTION_1600) {
-	    regVal |= 0x10;
-		scaler = AP_OPTICALFLOW_ADNS3080_SCALER * 4;
-	}
+    if( resolution == ADNS3080_RESOLUTION_400 ) {
+        regVal &= ~0x10;
+        scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
+    }else if( resolution == ADNS3080_RESOLUTION_1600) {
+        regVal |= 0x10;
+        scaler = AP_OPTICALFLOW_ADNS3080_SCALER * 4;
+    }
 
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	write_register(ADNS3080_CONFIGURATION_BITS, regVal);
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    write_register(ADNS3080_CONFIGURATION_BITS, regVal);
 
-	// this will affect conversion factors so update them
-	update_conversion_factors();
+    // this will affect conversion factors so update them
+    update_conversion_factors();
 }
 
 // get_frame_rate_auto - return whether frame rate is set to "auto" or manual
@@ -335,10 +335,10 @@ AP_OpticalFlow_ADNS3080_APM2::get_frame_rate_auto()
 {
     byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
     if( (regVal & 0x01) != 0 ) {
-	    return false;
-	}else{
-	    return true;
-	}
+        return false;
+    }else{
+        return true;
+    }
 }
 
 // set_frame_rate_auto - set frame rate to auto (true) or manual (false)
@@ -346,21 +346,21 @@ void
 AP_OpticalFlow_ADNS3080_APM2::set_frame_rate_auto(bool auto_frame_rate)
 {
     byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	if( auto_frame_rate == true ) {
-		// set specific frame period
-		write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,0xE0);
-		delayMicroseconds(SPI3_DELAY);  // small delay
-		write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,0x1A);
-		delayMicroseconds(SPI3_DELAY);  // small delay
-
-		// decide what value to update in extended config
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    if( auto_frame_rate == true ) {
+        // set specific frame period
+        write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,0xE0);
+        delayMicroseconds(SPI3_DELAY);          // small delay
+        write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,0x1A);
+        delayMicroseconds(SPI3_DELAY);          // small delay
+
+        // decide what value to update in extended config
         regVal = (regVal & ~0x01);
-	}else{
-	    // decide what value to update in extended config
-	    regVal = (regVal & ~0x01) | 0x01;
-	}
-	write_register(ADNS3080_EXTENDED_CONFIG, regVal);
+    }else{
+        // decide what value to update in extended config
+        regVal = (regVal & ~0x01) | 0x01;
+    }
+    write_register(ADNS3080_EXTENDED_CONFIG, regVal);
 }
 
 // get frame period
@@ -368,10 +368,10 @@ unsigned int
 AP_OpticalFlow_ADNS3080_APM2::get_frame_period()
 {
     NumericIntType aNum;
-	aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
+    delayMicroseconds(SPI3_DELAY);      // small delay
     aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
-	return aNum.uintValue;
+    return aNum.uintValue;
 }
 
 // set frame period
@@ -379,16 +379,16 @@ void
 AP_OpticalFlow_ADNS3080_APM2::set_frame_period(unsigned int period)
 {
     NumericIntType aNum;
-	aNum.uintValue = period;
+    aNum.uintValue = period;
 
-	// set frame rate to manual
-	set_frame_rate_auto(false);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    // set frame rate to manual
+    set_frame_rate_auto(false);
+    delayMicroseconds(SPI3_DELAY);      // small delay
 
-	// set specific frame period
-	write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
+    // set specific frame period
+    write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
 
 }
 
@@ -396,8 +396,8 @@ unsigned int
 AP_OpticalFlow_ADNS3080_APM2::get_frame_rate()
 {
     unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
-	unsigned int rate = clockSpeed / get_frame_period();
-	return rate;
+    unsigned int rate = clockSpeed / get_frame_period();
+    return rate;
 }
 
 void
@@ -406,7 +406,7 @@ AP_OpticalFlow_ADNS3080_APM2::set_frame_rate(unsigned int rate)
     unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
     unsigned int period = (unsigned int)(clockSpeed / (unsigned long)rate);
 
-	set_frame_period(period);
+    set_frame_period(period);
 }
 
 // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
@@ -414,11 +414,11 @@ bool
 AP_OpticalFlow_ADNS3080_APM2::get_shutter_speed_auto()
 {
     byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
-	if( (regVal & 0x02) > 0 ) {
-	    return false;
-	}else{
-	    return true;
-	}
+    if( (regVal & 0x02) > 0 ) {
+        return false;
+    }else{
+        return true;
+    }
 }
 
 // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
@@ -426,22 +426,22 @@ void
 AP_OpticalFlow_ADNS3080_APM2::set_shutter_speed_auto(bool auto_shutter_speed)
 {
     byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	if( auto_shutter_speed ) {
-		// return shutter speed max to default
-		write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,0x8c);
-		delayMicroseconds(SPI3_DELAY);  // small delay
-		write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,0x20);
-		delayMicroseconds(SPI3_DELAY);  // small delay
-
-		// determine value to put into extended config
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    if( auto_shutter_speed ) {
+        // return shutter speed max to default
+        write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,0x8c);
+        delayMicroseconds(SPI3_DELAY);          // small delay
+        write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,0x20);
+        delayMicroseconds(SPI3_DELAY);          // small delay
+
+        // determine value to put into extended config
         regVal &= ~0x02;
-	}else{
-	    // determine value to put into extended config
-	    regVal |= 0x02;
-	}
-	write_register(ADNS3080_EXTENDED_CONFIG, regVal);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    }else{
+        // determine value to put into extended config
+        regVal |= 0x02;
+    }
+    write_register(ADNS3080_EXTENDED_CONFIG, regVal);
+    delayMicroseconds(SPI3_DELAY);      // small delay
 }
 
 // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
@@ -449,10 +449,10 @@ unsigned int
 AP_OpticalFlow_ADNS3080_APM2::get_shutter_speed()
 {
     NumericIntType aNum;
-	aNum.byteValue[1] = read_register(ADNS3080_SHUTTER_UPPER);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    aNum.byteValue[1] = read_register(ADNS3080_SHUTTER_UPPER);
+    delayMicroseconds(SPI3_DELAY);      // small delay
     aNum.byteValue[0] = read_register(ADNS3080_SHUTTER_LOWER);
-	return aNum.uintValue;
+    return aNum.uintValue;
 }
 
 
@@ -461,30 +461,30 @@ void
 AP_OpticalFlow_ADNS3080_APM2::set_shutter_speed(unsigned int shutter_speed)
 {
     NumericIntType aNum;
-	aNum.uintValue = shutter_speed;
+    aNum.uintValue = shutter_speed;
 
-	// set shutter speed to manual
+    // set shutter speed to manual
     set_shutter_speed_auto(false);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    delayMicroseconds(SPI3_DELAY);      // small delay
 
-	// set specific shutter speed
-	write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,aNum.byteValue[0]);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,aNum.byteValue[1]);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    // set specific shutter speed
+    write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,aNum.byteValue[0]);
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,aNum.byteValue[1]);
+    delayMicroseconds(SPI3_DELAY);      // small delay
 
-	// larger delay
-	delay(50);
+    // larger delay
+    delay(50);
 
-	// need to update frame period to cause shutter value to take effect
-	aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    // need to update frame period to cause shutter value to take effect
+    aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
+    delayMicroseconds(SPI3_DELAY);      // small delay
     aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
-	delayMicroseconds(SPI3_DELAY);  // small delay
-	write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
-	delayMicroseconds(SPI3_DELAY);  // small delay
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
+    delayMicroseconds(SPI3_DELAY);      // small delay
+    write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
+    delayMicroseconds(SPI3_DELAY);      // small delay
 }
 
 // clear_motion - will cause the Delta_X, Delta_Y, and internal motion registers to be cleared
@@ -492,11 +492,11 @@ void
 AP_OpticalFlow_ADNS3080_APM2::clear_motion()
 {
     write_register(ADNS3080_MOTION_CLEAR,0xFF);  // writing anything to this register will clear the sensor's motion registers
-	x = 0;
-	y = 0;
-	dx = 0;
-	dy = 0;
-	_motion = false;
+    x = 0;
+    y = 0;
+    dx = 0;
+    dy = 0;
+    _motion = false;
 }
 
 // get_pixel_data - captures an image from the sensor and stores it to the pixe_data array
@@ -504,33 +504,33 @@ void
 AP_OpticalFlow_ADNS3080_APM2::print_pixel_data(Stream *serPort)
 {
     int i,j;
-	bool isFirstPixel = true;
-	byte regValue;
-	byte pixelValue;
+    bool isFirstPixel = true;
+    byte regValue;
+    byte pixelValue;
 
     // write to frame capture register to force capture of frame
-	write_register(ADNS3080_FRAME_CAPTURE,0x83);
+    write_register(ADNS3080_FRAME_CAPTURE,0x83);
 
-	// wait 3 frame periods + 10 nanoseconds for frame to be captured
-	delayMicroseconds(1510);  // min frame speed is 2000 frames/second so 1 frame = 500 nano seconds.  so 500 x 3 + 10 = 1510
+    // wait 3 frame periods + 10 nanoseconds for frame to be captured
+    delayMicroseconds(1510);      // min frame speed is 2000 frames/second so 1 frame = 500 nano seconds.  so 500 x 3 + 10 = 1510
 
     // display the pixel data
-	for( i=0; i<ADNS3080_PIXELS_Y; i++ ) {
-	    for( j=0; j<ADNS3080_PIXELS_X; j++ ) {
-		    regValue = read_register(ADNS3080_FRAME_CAPTURE);
-		    if( isFirstPixel && (regValue & 0x40) == 0 ) {
-			    serPort->println("failed to find first pixel");
-			}
-			isFirstPixel = false;
-			pixelValue = ( regValue << 2);
-			serPort->print(pixelValue,DEC);
-			if( j!= ADNS3080_PIXELS_X-1 )
-				serPort->print(",");
-			delayMicroseconds(SPI3_DELAY);
-		}
-		serPort->println();
-	}
-
-	// hardware reset to restore sensor to normal operation
-	reset();
+    for( i=0; i<ADNS3080_PIXELS_Y; i++ ) {
+        for( j=0; j<ADNS3080_PIXELS_X; j++ ) {
+            regValue = read_register(ADNS3080_FRAME_CAPTURE);
+            if( isFirstPixel && (regValue & 0x40) == 0 ) {
+                serPort->println("failed to find first pixel");
+            }
+            isFirstPixel = false;
+            pixelValue = ( regValue << 2);
+            serPort->print(pixelValue,DEC);
+            if( j!= ADNS3080_PIXELS_X-1 )
+                serPort->print(",");
+            delayMicroseconds(SPI3_DELAY);
+        }
+        serPort->println();
+    }
+
+    // hardware reset to restore sensor to normal operation
+    reset();
 }