From 3b2efccad2db095bcd986471d4d781aeb8692d76 Mon Sep 17 00:00:00 2001
From: jfbblue0922 <jfbblue0922@gmail.com>
Date: Thu, 27 Jul 2023 15:03:31 +0900
Subject: [PATCH] update serial driver for JRE

---
 .../AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat     | 24 +++++++++----------
 .../AP_RangeFinder_JRE_Serial.cpp             | 16 ++++++-------
 .../AP_RangeFinder_JRE_Serial.h               |  3 ++-
 3 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
index 880a7778298ff4..ef4b68bf8659b2 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
@@ -124,7 +124,7 @@ define ANALOG_VCC_5V_PIN 5
 define HAL_HAVE_BOARD_VOLTAGE 1
 PB3 VBUS_RESERVED INPUT
 
-# JFB110 has no SERVORAIL ADC
+# JFB110 has SERVORAIL ADC
 # Set SENSOR_3.3V power signal insted.
 PC1  SCALED_V3V3 ADC1 SCALE(2)       # ADC1_11
 PA3  FMU_SERVORAIL_VCC ADC1 SCALE(2) # ADC1_15
@@ -161,11 +161,11 @@ define HAL_GPIO_SPEKTRUM_PWR 69
 define HAL_SPEKTRUM_PWR_ENABLED 1
 
 #Checked in Analogin.cpp -> MAV_POWER_STATUS
-PG1 VDD_BRICK_nVALID    INPUT PULLUP
-PG2 VDD_BRICK2_nVALID   INPUT PULLUP
-PG3 VBUS_nVALID         INPUT PULLUP
-PE15 VDD_5V_PERIPH_nOC  INPUT PULLUP
-PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
+PG1 VDD_BRICK_nVALID    INPUT
+PG2 VDD_BRICK2_nVALID   INPUT
+PG3 VBUS_nVALID         INPUT
+PE15 VDD_5V_PERIPH_nOC  INPUT
+PF13 VDD_5V_HIPOWER_nOC INPUT
 
 # ID pins
 PG0 HW_VER_REV_DRIVE OUTPUT LOW SPEED_VERYLOW
@@ -204,10 +204,10 @@ PG15 IIM42652_2_CS CS   SPEED_VERYLOW  # SPI4_CS2
 #PE2  SPI5_CS1  CS   SPEED_VERYLOW
 
 # IMU Device Ready Signal Input
-PF3  DRDY1_IIM42652_1 INPUT PULLUP
-PF2  DRDY2_IIM42652_1 INPUT PULLUP
-PA15 DRDY1_IIM42652_2 INPUT PULLUP
-PA1  DRDY2_IIM42652_2 INPUT PULLUP
+PF3  DRDY1_IIM42652_1 INPUT
+PF2  DRDY2_IIM42652_1 INPUT
+PA15 DRDY1_IIM42652_2 INPUT
+PA1  DRDY2_IIM42652_2 INPUT
 
 PE7  SCHA63T_RESET OUTPUT LOW
 
@@ -259,8 +259,8 @@ PD11 PWM_OE OUTPUT HIGH
 PD5  PWM_OE2 OUTPUT HIGH
 
 # GPIOs
-PE11 FMU_CAP1 INPUT GPIO(66) PULLUP
-PB11 FMU_CAP2 INPUT GPIO(67) PULLUP
+PE11 FMU_CAP1 INPUT GPIO(66)
+PB11 FMU_CAP2 INPUT GPIO(67)
 
 # CAN bus
 PD0  CAN1_RX CAN1 SPEED_VERYLOW
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp
index 5e63f47fb12d6c..b1ab0a01ac710f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp
@@ -31,20 +31,20 @@
 /* CRC16CCITT */
 static uint16_t CalcCRC16CCITT(uint8_t *cbuffer, uint16_t csize)
 {
-	uint16_t crc = CCITT_INITPARA;
-	for (int i = 0; i < csize; i++) {
-		crc ^= *cbuffer++;
-		for (int j = 0; j < 8; j++) {
+    uint16_t crc = CCITT_INITPARA;
+    for (int i = 0; i < csize; i++) {
+        crc ^= *cbuffer++;
+        for (int j = 0; j < 8; j++) {
             if ((crc & 0x0001) != 0) {
                 crc >>= 1;
                 crc ^= CCITT_POLYNOMIAL;
             } else {
                 crc >>= 1;
             }
-		}
-	}
-	crc = crc ^ CCITT_OUTPARA;
-	return crc;
+        }
+    }
+    crc = crc ^ CCITT_OUTPARA;
+    return crc;
 }
 
 bool AP_RangeFinder_JRE_Serial::get_reading(float &reading_m)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h
index 00f7676221e7a1..0249919543a447 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h
@@ -31,7 +31,8 @@ class AP_RangeFinder_JRE_Serial : public AP_RangeFinder_Backend_Serial
         return MAV_DISTANCE_SENSOR_RADAR;
     }
 
-    bool get_signal_quality_pct(uint8_t &quality_pct) const override {
+    bool get_signal_quality_pct(uint8_t &quality_pct) const override
+    {
         quality_pct = no_signal ? 0 : 100;
         return true;
     }