Revision 46:fd5a62296b12, committed 2015-05-27

Comitter:

pvaibhav

Date:

Wed May 27 13:01:43 2015 +0000

Parent:

43:6251c0169f4f

Commit message:

Code reformatted

Changed in this revision

diff -r 6251c0169f4f -r fd5a62296b12 Accelerometer.cpp
--- a/Accelerometer.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/Accelerometer.cpp	Wed May 27 13:01:43 2015 +0000
@@ -48,9 +48,9 @@
     for (size_t i = 0; i < 6; i++)
         buffer[i] = read_reg(0x02 + i);
     */
-    
+
     read_reg(0x02, buffer, sizeof buffer);
-    
+
     const int16_t x = *(reinterpret_cast<const int16_t*>(buffer + 0)) / 16;
     const int16_t y = *(reinterpret_cast<const int16_t*>(buffer + 2)) / 16;
     const int16_t z = *(reinterpret_cast<const int16_t*>(buffer + 4)) / 16;

diff -r 6251c0169f4f -r fd5a62296b12 Accelerometer.h
--- a/Accelerometer.h	Wed May 27 11:45:00 2015 +0000
+++ b/Accelerometer.h	Wed May 27 13:01:43 2015 +0000
@@ -15,7 +15,7 @@
     virtual void stop();
 
     virtual Vector3 read();
-    
+
 private:
     InterruptIn int1;
     InterruptIn int2;

diff -r 6251c0169f4f -r fd5a62296b12 Barometer.cpp
--- a/Barometer.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/Barometer.cpp	Wed May 27 13:01:43 2015 +0000
@@ -14,56 +14,62 @@
     }
 }
 
-bool Barometer::powerOn() {
+bool Barometer::powerOn()
+{
     write_reg(0xE0, 0xB6); // reset
     wait_ms(2); // cf. datasheet page 8, t_startup
     return read_reg(0xD0) == 0x58; // verify chip ID
 }
 
-void Barometer::powerOff() {
+void Barometer::powerOff()
+{
     // nothing to do
 }
 
-void Barometer::start() {
+void Barometer::start()
+{
     // reset our initial calibration
     nsamples = 0;
     sum = 0;
     avg = 0;
-    
+
     // set parameters for Bosch-recommended "Indoor navigation" preset
     write_reg(0xF5, 0x10); // 0.5ms t_standby, IIR coefficient=16
     write_reg(0xF4, 0x57); // 2x oversampling for temperature, 16x for pressure and power mode "normal"
 }
 
-void Barometer::stop() {
+void Barometer::stop()
+{
     write_reg(0xF4, 0x54); // keep the oversampling settings but set power mode to "sleep"
 }
 
-Vector3 Barometer::read() {
+Vector3 Barometer::read()
+{
     uint8_t buffer[6];
     /*
     for (int i = 0; i < 6; i++)
         buffer[i] =  read_reg(0xF7 + i);
     */
-    
+
     read_reg(0xF7, buffer, sizeof buffer);
-    
+
     const uint32_t adc_P = ((buffer[0] << 16) | (buffer[1] << 8) | buffer[2]) >> 4;
     const uint32_t adc_T = ((buffer[3] << 16) | (buffer[4] << 8) | buffer[5]) >> 4;
-    
+
     const float celsius = bmp280_val_to_temp(adc_T) - 20; // 20 degree offset (?)
     const float pa = bmp280_val_to_pa(adc_P);
     const float centimeter = pressureToAltitude(pa) * 100.0;
-    
+
     if (++nsamples < 10) {
         sum += centimeter;
         avg = sum / nsamples;
     }
-    
+
     return Vector3(celsius, pa, centimeter - avg);
 }
 
-float Barometer::pressureToAltitude(const float pa) const {    
+float Barometer::pressureToAltitude(const float pa) const
+{
     return -44330.7692 * (pow(pa * 0.0000098692, 0.1902632365) - 1);
 }
 
@@ -83,9 +89,9 @@
         int16_t  dig_P8;
         int16_t  dig_P9;
     } cal_data;
-    
+
     read_reg(0x88, (uint8_t*)&cal_data, sizeof cal_data);
-    
+
     dig_T1 = cal_data.dig_T1;
     dig_T2 = cal_data.dig_T2;
     dig_T3 = cal_data.dig_T3;

diff -r 6251c0169f4f -r fd5a62296b12 Barometer.h
--- a/Barometer.h	Wed May 27 11:45:00 2015 +0000
+++ b/Barometer.h	Wed May 27 13:01:43 2015 +0000
@@ -11,7 +11,7 @@
     typedef uint32_t BMP280_U32_t;
     typedef int32_t  BMP280_S32_t;
     typedef int64_t  BMP280_S64_t;
-    
+
     void  bmp280_read_calibration();
     float bmp280_val_to_temp(BMP280_S32_t adc_T);
     float bmp280_val_to_pa(BMP280_S32_t adc_P);
@@ -19,7 +19,7 @@
     float sum;
     float avg;
     int nsamples;
-    
+
     // Calibration parameters stored on chip
     // XXX: DO NOT modify the order, values are read into this section of the memory sequentially!
     uint16_t dig_T1;

diff -r 6251c0169f4f -r fd5a62296b12 CherryCam.cpp
--- a/CherryCam.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/CherryCam.cpp	Wed May 27 13:01:43 2015 +0000
@@ -4,7 +4,7 @@
 {
     powerPin = 0; // keep off initially
 }
-    
+
 void CherryCam::powerOn()
 {
     powerPin = 1;
@@ -14,20 +14,20 @@
 {
     powerPin = 0;
 }
-    
+
 void CherryCam::start()
 {
     if (recording)
         return;
-        
+
     generateFallingEdge();
 }
-    
+
 void CherryCam::stop()
 {
     if (!recording)
         return;
-        
+
     generateFallingEdge();
 }
 

diff -r 6251c0169f4f -r fd5a62296b12 CherryCam.h
--- a/CherryCam.h	Wed May 27 11:45:00 2015 +0000
+++ b/CherryCam.h	Wed May 27 13:01:43 2015 +0000
@@ -8,12 +8,12 @@
 {
 public:
     CherryCam();            ///< Constructor
-    
+
     void powerOn();         ///< Turn the camera power on. Takes 10-12 sec to boot up.
     void powerOff();        ///< Turn the camera power off.
     void start();           ///< Start video recording. Camera power must be on.
     void stop();            ///< Stop the video recording.
-    
+
 private:
     void generateFallingEdge();
     void pulldownShutterPin();

diff -r 6251c0169f4f -r fd5a62296b12 Filter.h
--- a/Filter.h	Wed May 27 11:45:00 2015 +0000
+++ b/Filter.h	Wed May 27 13:01:43 2015 +0000
@@ -11,25 +11,23 @@
 protected:
     float y;
     float const alpha;
-    
+
 public:
     /// Construct the filter with given coefficient.
     /// @param a filter coefficient (0.0 to 1.0), higher values result in more filtering.
     LowPassFilter(float const a) : y(0), alpha(a) {}
-    
+
     /// Main processing function, passes given value to filter and returns the filter's output.
     /// Call repeatedly to filter an incoming stream of numbers.
     /// @param x one value to send to filter as input
     /// @return filtered output
-    float filter(float const x)
-    {
+    float filter(float const x) {
         y = x + alpha * (y - x);
         return y;
     }
-    
+
     /// Resets the internal state of the filter. Use to start filtering a new stream.
-    void reset()
-    {
+    void reset() {
         y = 0;
     }
 };
@@ -45,14 +43,12 @@
 
 public:
     HighPassFilter(float const a) : y(0), x_1(0), alpha(1 - a) {}
-    float filter(float const x)
-    {
+    float filter(float const x) {
         y = alpha * (y + x - x_1);
         x_1 = x;
         return y;
     }
-    void reset()
-    {
+    void reset() {
         y = 0;
         x_1 = 0;
     }
@@ -64,19 +60,17 @@
     float y;
     float dt;
     float clipmax;
-    
+
 public:
     Integrator( float const _dt = 1,
                 float const initial = 0,
                 float const _max = 1000000) : y(initial),
-                                    dt(_dt),
-                                    clipmax(_max) {}
-    float integrate(float const x)
-    {
+        dt(_dt),
+        clipmax(_max) {}
+    float integrate(float const x) {
         return (y = utils::clip(-clipmax, y + x * dt, clipmax));
     }
-    void reset(float const _dt = 1, float const initial = 0)
-    {
+    void reset(float const _dt = 1, float const initial = 0) {
         y = initial;
         dt = _dt;
     }
@@ -86,16 +80,14 @@
 {
 protected:
     float y;
-    
+
 public:
     Differentiator() : y(0) {}
-    float differentiate(float const x)
-    {
+    float differentiate(float const x) {
         return (y = x - y);
     }
-    
-    void reset()
-    {
+
+    void reset() {
         y = 0;
     }
 };

diff -r 6251c0169f4f -r fd5a62296b12 GPS.h
--- a/GPS.h	Wed May 27 11:45:00 2015 +0000
+++ b/GPS.h	Wed May 27 13:01:43 2015 +0000
@@ -10,18 +10,18 @@
     /// Constructor
     /// @param pc The serial (UART) port used to communicate with the GPS. Data is only received, nothing is sent to this port.
     GPS(Serial const &pc);
-    
+
     class Delegate
     {
         virtual void gpsSync() = 0;
     };
-    
+
     void powerOn();
     void powerOff();
-    
+
 private:
     Serial* uart;
-    
+
 };
 
 #endif//_H_GPS_H
\ No newline at end of file

diff -r 6251c0169f4f -r fd5a62296b12 Gyroscope.cpp
--- a/Gyroscope.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/Gyroscope.cpp	Wed May 27 13:01:43 2015 +0000
@@ -64,15 +64,15 @@
     for (size_t i = 0; i < 6; i++)
         buffer[i] = read_reg(0x02 + i);
     */
-    
+
     read_reg(0x02, buffer, sizeof buffer);
-    
+
     const int16_t x = buffer[1] << 8 | buffer[0];
     const int16_t y = buffer[3] << 8 | buffer[2];
     const int16_t z = buffer[5] << 8 | buffer[4];
 
     //write_reg(0x15, 1 << 7); // new data interrupt enabled
-    
+
     //static Vector3 const offsets(-0.16, -0.17, 0.015);
 
     return (Vector3(x, y, z) * gyro_resolution);// - offsets;

diff -r 6251c0169f4f -r fd5a62296b12 Gyroscope.h
--- a/Gyroscope.h	Wed May 27 11:45:00 2015 +0000
+++ b/Gyroscope.h	Wed May 27 13:01:43 2015 +0000
@@ -16,7 +16,7 @@
     virtual void start();
     virtual void stop();
     virtual Vector3 read();
-    
+
     volatile bool interruptSet;
 
 protected:

diff -r 6251c0169f4f -r fd5a62296b12 LEDDriver.cpp
--- a/LEDDriver.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/LEDDriver.cpp	Wed May 27 13:01:43 2015 +0000
@@ -42,10 +42,10 @@
 void LEDDriver::setWhiteLed(const float w)
 {
     uint8_t value = (uint8_t) (w * 255);
-    
+
     if (value > 255)
         value = 255;
-    
+
     write_reg(0x0e, value);
 }
 

diff -r 6251c0169f4f -r fd5a62296b12 Magnetometer.cpp
--- a/Magnetometer.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/Magnetometer.cpp	Wed May 27 13:01:43 2015 +0000
@@ -8,13 +8,13 @@
 {
     if (powerOn()) {
         readCalibrationData(); // temperature calibration
-        
+
         // Initialise hard-iron and soft-iron correction. The minima and maxima values were measured
         // smartplane2 prototype gives a starting point for the background calibrator.
         float minimums[] = { -1536.0f, -2701.0f, -2112.0f };
         float maximums[] = { 187, 1665, 39 };
         calibrator.setExtremes(minimums, maximums);
-    
+
         INFO("Bosch Sensortec BMX055-Magneto found");
         powerOff();
     } else {
@@ -88,16 +88,16 @@
     const int16_t temp = ((int16_t)(((uint16_t)((((int32_t)dig_xyz1) << 14)/(data_r != 0 ? data_r : dig_xyz1))) - ((uint16_t)0x4000)));
     const int32_t temp2 = (((((int32_t)dig_xy2) * ((((int32_t)temp) * ((int32_t)temp)) >> 7)) + (((int32_t)temp) * ((int32_t)(((int16_t)dig_xy1) << 7)))) >> 9);
     input[0] = ((int16_t)((((int32_t)mdata_x) *
-                (((temp2 +
-                ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_x2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_x1) << 3);
+                           (((temp2 +
+                              ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_x2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_x1) << 3);
 
     input[1] = ((int16_t)((((int32_t)mdata_y) *
-                (((temp2 +
-                ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_y2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_y1) << 3);
+                           (((temp2 +
+                              ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_y2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_y1) << 3);
 
     input[2] = (((((int32_t)(mdata_z - dig_z4)) << 15) - ((((int32_t)dig_z3) * ((int32_t)(((int16_t)data_r) -
-                  ((int16_t)dig_xyz1))))>>2))/(dig_z2 + ((int16_t)(((((int32_t)dig_z1) * ((((int16_t)data_r) << 1)))+(1<<15))>>16))));
-                  
+                 ((int16_t)dig_xyz1))))>>2))/(dig_z2 + ((int16_t)(((((int32_t)dig_z1) * ((((int16_t)data_r) << 1)))+(1<<15))>>16))));
+
     float output[3];
     calibrator.run(input, output);
 

diff -r 6251c0169f4f -r fd5a62296b12 Magnetometer.h
--- a/Magnetometer.h	Wed May 27 11:45:00 2015 +0000
+++ b/Magnetometer.h	Wed May 27 13:01:43 2015 +0000
@@ -18,7 +18,7 @@
     virtual Vector3 read();
 
     bool performSelfTest();
-    
+
     void getCalibration(Vector3 &mins, Vector3 &maxs);
 
 private:
@@ -39,7 +39,7 @@
     CalibrateMagneto calibrator;
 
     void readCalibrationData();
-    
+
     InterruptIn int1;
     InterruptIn int2;
 };

diff -r 6251c0169f4f -r fd5a62296b12 MotorDriver.h
--- a/MotorDriver.h	Wed May 27 11:45:00 2015 +0000
+++ b/MotorDriver.h	Wed May 27 13:01:43 2015 +0000
@@ -9,7 +9,7 @@
     MotorDriver(I2C &i2c, const uint8_t address, PinName interruptPin);
     void setVoltage(float voltage);
     MotorDriver& operator=(const float voltage);
-    
+
 private:
     InterruptIn faultLine;
 };

diff -r 6251c0169f4f -r fd5a62296b12 PIDController.h
--- a/PIDController.h	Wed May 27 11:45:00 2015 +0000
+++ b/PIDController.h	Wed May 27 13:01:43 2015 +0000
@@ -23,10 +23,10 @@
                     float const _setpoint = 0.0f,
                     bool  const _clippingEnabled = false,
                     float const _maximum = 0.0)
-                    :   Kp(_Kp), Ki(_Ki), Kd(_Kd),
-                        setPoint(_setpoint),
-                        clippingEnabled(_clippingEnabled), maximum(_maximum),
-                        e(0), int_e(0), diff_e(0), prev_e(0) { }
+        :   Kp(_Kp), Ki(_Ki), Kd(_Kd),
+            setPoint(_setpoint),
+            clippingEnabled(_clippingEnabled), maximum(_maximum),
+            e(0), int_e(0), diff_e(0), prev_e(0) { }
 
     float Kp;               ///< The proportional term of the PID controller
     float Ki;               ///< The integral term of the PID controller
@@ -40,8 +40,7 @@
     float prev_e;           ///< error at t_-1
 
     /// Reset PID controller (integral, differential) to zero
-    void reset()
-    {
+    void reset() {
         prev_e = 0.0f;
         int_e  = 0.0f;
     }
@@ -49,27 +48,26 @@
     /// Performs one iteration of the PID control loop. If clipping
     /// @param input The input to the PID controller
     /// @return The PID controller's output
-    float output(float const input)
-    {
+    float output(float const input) {
         // find error from set point
         e = setPoint - input;
-        
+
         // differentiate error
         diff_e = (e - prev_e);
         prev_e = e;
-        
+
         // integral term
         int_e = int_e + e;
-        
+
         float const maxInte = maximum / Ki;
-        
+
         if (clippingEnabled) {
             if (int_e > maxInte)
                 int_e = maxInte;
             if (int_e < -maxInte)
                 int_e = -maxInte;
         }
-    
+
         return (e * Kp + int_e * Ki + diff_e * Kd);
     }
 };

diff -r 6251c0169f4f -r fd5a62296b12 PowerAwareI2C.h
--- a/PowerAwareI2C.h	Wed May 27 11:45:00 2015 +0000
+++ b/PowerAwareI2C.h	Wed May 27 13:01:43 2015 +0000
@@ -9,16 +9,14 @@
 {
 public:
     PowerAwareI2C(PinName sda, PinName scl) : I2C(sda, scl) {}
-    
+
     /// Power on the I2C peripheral
-    void powerOn()
-    {
+    void powerOn() {
         _i2c.i2c->ENABLE = (TWI_ENABLE_ENABLE_Enabled << TWI_ENABLE_ENABLE_Pos);
     }
-    
-    /// Power off the I2C peripheral     
-    void powerOff()
-    {
+
+    /// Power off the I2C peripheral
+    void powerOff() {
         _i2c.i2c->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
         _i2c.i2c->POWER  = 0;
     }

diff -r 6251c0169f4f -r fd5a62296b12 QuaternionMath.lib
--- a/QuaternionMath.lib	Wed May 27 11:45:00 2015 +0000
+++ b/QuaternionMath.lib	Wed May 27 13:01:43 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/TobyRich-GmbH/code/QuaternionMath/#7fc3fba01e2f
+http://developer.mbed.org/teams/TobyRich-GmbH/code/QuaternionMath/#69f240dbf0df

diff -r 6251c0169f4f -r fd5a62296b12 Sensor.h
--- a/Sensor.h	Wed May 27 11:45:00 2015 +0000
+++ b/Sensor.h	Wed May 27 13:01:43 2015 +0000
@@ -30,7 +30,7 @@
     virtual void stop() = 0; ///< Stop capturing data.
 
     virtual Vector3 read() = 0; ///< Read and return instantaneous (current) sensor data. No need to start the sensor.
-    
+
     Sensor() : delegate(&defaultDelegate) {}
 
 protected:

diff -r 6251c0169f4f -r fd5a62296b12 SensorFusion.cpp
--- a/SensorFusion.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/SensorFusion.cpp	Wed May 27 13:01:43 2015 +0000
@@ -23,14 +23,14 @@
     lowpassX.reset();
     lowpassY.reset();
     lowpassZ.reset();
-    
+
     accel.powerOn();
     accel.start();
-        
+
     // Since everything is synced to gyro interrupt, start it last
     gyro.powerOn();
     gyro.start();
-    
+
     return true;
 }
 
@@ -38,7 +38,7 @@
 {
     gyro.stop();
     gyro.powerOff();
-    
+
     accel.stop();
     accel.powerOff();
 }
@@ -46,7 +46,7 @@
 static float const deg_to_radian =  0.0174532925f;
 
 void SensorFusion6::sensorUpdate(Vector3 gyro_degrees)
-{   
+{
     Vector3 const gyro_reading = gyro_degrees * deg_to_radian;
     Vector3 const accel_reading = accel.read();
     Vector3 const filtered_accel = Vector3( lowpassX.filter(accel_reading.x),
@@ -54,15 +54,15 @@
                                             lowpassZ.filter(accel_reading.z));
 
     updateFilter( filtered_accel.x,  filtered_accel.y,  filtered_accel.z,
-                    gyro_reading.x,    gyro_reading.y,    gyro_reading.z);
-                    
+                  gyro_reading.x,    gyro_reading.y,    gyro_reading.z);
+
     delegate->sensorTick(deltat, q.getEulerAngles(), filtered_accel, accel_reading, gyro_degrees, q);
 }
 
 void SensorFusion6::updateFilter(float ax, float ay, float az, float gx, float gy, float gz)
 {
     float q0 = q.w, q1 = q.v.x, q2 = q.v.y, q3 = q.v.z;   // short name local variable for readability
-    
+
     float recipNorm;
     float s0, s1, s2, s3;
     float qDot1, qDot2, qDot3, qDot4;
@@ -81,7 +81,7 @@
         recipNorm = 1.0 / sqrt(ax * ax + ay * ay + az * az);
         ax *= recipNorm;
         ay *= recipNorm;
-        az *= recipNorm;   
+        az *= recipNorm;
 
         // Auxiliary variables to avoid repeated arithmetic
         _2q0 = 2.0 * q0;
@@ -128,7 +128,7 @@
     q1 *= recipNorm;
     q2 *= recipNorm;
     q3 *= recipNorm;
-    
+
     // return
     q.w = q0;
     q.v.x = q1;
@@ -145,7 +145,7 @@
 {
     magneto.powerOn();
     magneto.start();
-    
+
     return SensorFusion6::start();
 }
 
@@ -161,15 +161,15 @@
     Vector3 const gyro_reading = gyro_degrees * deg_to_radian;
     Vector3 const accel_reading = accel.read();
     Vector3 const magneto_reading = magneto.read();
-    
+
     Vector3 const filtered_accel = Vector3( lowpassX.filter(accel_reading.x),
                                             lowpassY.filter(accel_reading.y),
                                             lowpassZ.filter(accel_reading.z));
 
     updateFilter( filtered_accel.x,  filtered_accel.y,  filtered_accel.z,
-                    gyro_reading.x,    gyro_reading.y,    gyro_reading.z,
-                 magneto_reading.x, magneto_reading.y, magneto_reading.z);
-                    
+                  gyro_reading.x,    gyro_reading.y,    gyro_reading.z,
+                  magneto_reading.x, magneto_reading.y, magneto_reading.z);
+
     delegate->sensorTick(deltat, q.getEulerAngles(), filtered_accel, magneto_reading, gyro_degrees, q);
 }
 

diff -r 6251c0169f4f -r fd5a62296b12 SensorFusion.h
--- a/SensorFusion.h	Wed May 27 11:45:00 2015 +0000
+++ b/SensorFusion.h	Wed May 27 13:01:43 2015 +0000
@@ -16,10 +16,14 @@
     public:
         virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
     };
-    
-    void setDelegate(Delegate &d) { delegate = &d; }
 
-    virtual bool start() { return false; }
+    void setDelegate(Delegate &d) {
+        delegate = &d;
+    }
+
+    virtual bool start() {
+        return false;
+    }
     virtual void stop() {}
 
 protected:
@@ -37,16 +41,16 @@
     virtual void sensorUpdate(Vector3 gyro_degrees);
     virtual bool start();
     virtual void stop();
-    
+
 protected:
     Accelerometer   accel;
     Gyroscope       gyro;
     float const     deltat, beta;
-    
+
     LowPassFilter   lowpassX;
     LowPassFilter   lowpassY;
     LowPassFilter   lowpassZ;
-    
+
     void updateFilter(float ax, float ay, float az, float gx, float gy, float gz);
 };
 
@@ -57,7 +61,7 @@
     virtual void sensorUpdate(Vector3 gyro_degrees);
     virtual bool start();
     virtual void stop();
-    
+
 protected:
     Magnetometer    magneto;
     void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);

diff -r 6251c0169f4f -r fd5a62296b12 Utils.h
--- a/Utils.h	Wed May 27 11:45:00 2015 +0000
+++ b/Utils.h	Wed May 27 13:01:43 2015 +0000
@@ -6,44 +6,39 @@
 class utils
 {
 public:
-    static float clip(float const minimum, float const val, float const maximum)
-    {
+    static float clip(float const minimum, float const val, float const maximum) {
         return (val < minimum) ? minimum : ((val > maximum) ? maximum : val);
     }
-    
-    static void debugPortSend(uint8_t const* src, size_t const size)
-    {
-    #if defined(DATA_OUTPUT)
+
+    static void debugPortSend(uint8_t const* src, size_t const size) {
+#if defined(DATA_OUTPUT)
         putc(0x10, stdout); // marker
         for (int i = 0; i < size; i++) {
             putc(src[i] & 0x0f, stdout);
             putc(src[i]   >> 4, stdout);
         }
-    #endif
+#endif
     }
 
     static void sendVectorOverUART( const Vector3 a = Vector3(0, 0, 0),
                                     const Vector3 b = Vector3(0, 0, 0),
                                     const Vector3 c = Vector3(0, 0, 0),
-                                    const Vector3 d = Vector3(0, 0, 0))
-    {
+                                    const Vector3 d = Vector3(0, 0, 0)) {
         float data[] = {
             a.x, a.y, a.z,
             b.x, b.y, b.z,
             c.x, c.y, c.z,
             d.x, d.y, d.z
         };
-        
+
         debugPortSend((const uint8_t*) data, sizeof data);
     }
-    
-    static float deg2rad(float const d)
-    {
+
+    static float deg2rad(float const d) {
         return d * 0.0174532925f;
     }
-    
-    static float rad2deg(float const r)
-    {
+
+    static float rad2deg(float const r) {
         return r * 57.2957795131f;
     }
 };