Pretty printed the Arduino code with astyle

HP20x_dev.cpp

@@ -1,10 +1,10 @@
 /*
- * File name  : HP20x_dev.cpp
- * Description: Driver for I2C PRECISION BAROMETER AND ALTIMETER [HP206C]
- * Author     : Oliver Wang from Seeed studio
- * Version    : V0.1
- * Create Time: 2014/04
- * Change Log :
+    File name  : HP20x_dev.cpp
+    Description: Driver for I2C PRECISION BAROMETER AND ALTIMETER [HP206C]
+    Author     : Oliver Wang from Seeed studio
+    Version    : V0.1
+    Create Time: 2014/04
+    Change Log :
 */
 
 /****************************************************************************/
@@ -17,7 +17,7 @@
 /****************************************************************************/
 /***       Local Variable                                                 ***/
 /****************************************************************************/
- HP20x_dev HP20x;
+HP20x_dev HP20x;
 
 
 /****************************************************************************/
@@ -30,10 +30,9 @@
  **@ OutPut: none
  **@ Retval: none
 */
-HP20x_dev::HP20x_dev()
-{
+HP20x_dev::HP20x_dev() {
     OSR_CFG = HP20X_CONVERT_OSR1024;
-    OSR_ConvertTime = 25; 
+    OSR_ConvertTime = 25;
 }
 
 /*
@@ -43,12 +42,11 @@ HP20x_dev::HP20x_dev()
  **@ OutPut: none
  **@ Retval: none
 */
-void HP20x_dev::begin()
-{
-  Wire.begin();
-  /* Reset HP20x_dev */
-  HP20x.HP20X_IIC_WriteCmd(HP20X_SOFT_RST);
-	HP20x.HP20X_EnableCompensate();
+void HP20x_dev::begin() {
+    Wire.begin();
+    /* Reset HP20x_dev */
+    HP20x.HP20X_IIC_WriteCmd(HP20X_SOFT_RST);
+    HP20x.HP20X_EnableCompensate();
 
 }
 
@@ -59,72 +57,69 @@ void HP20x_dev::begin()
  **@ OutPut:
  **@ Retval:
 */
-ulong HP20x_dev::ReadTemperature(void)
-{   
-	HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);	//ADC convert
-	delay(OSR_ConvertTime);			                    //difference OSR_CFG will be difference OSR_ConvertTime
-	HP20X_IIC_WriteCmd(HP20X_READ_T);      
-	ulong Temperature = HP20X_IIC_ReadData();
-	return Temperature;		
+ulong HP20x_dev::ReadTemperature(void) {
+    HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD | OSR_CFG);	//ADC convert
+    delay(OSR_ConvertTime);			                    //difference OSR_CFG will be difference OSR_ConvertTime
+    HP20X_IIC_WriteCmd(HP20X_READ_T);
+    ulong Temperature = HP20X_IIC_ReadData();
+    return Temperature;
 }
 
 /*
  **@ Function name: ReadPressure
  **@ Description: Read Pressure value
  **@ Input:
- **@ OutPut: 
+ **@ OutPut:
  **@ Retval: value
 */
- 
-ulong HP20x_dev::ReadPressure(void)
-{
-    HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);
+
+ulong HP20x_dev::ReadPressure(void) {
+    HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD | OSR_CFG);
     delay(OSR_ConvertTime);
     HP20X_IIC_WriteCmd(HP20X_READ_P);
-    ulong Pressure = HP20X_IIC_ReadData();             
+    ulong Pressure = HP20X_IIC_ReadData();
     return Pressure;
-} 
+}
 
 /*
  **@ Function name: ReadAltitude
  **@ Description: Read Pressure value
  **@ Input:
- **@ OutPut: 
+ **@ OutPut:
  **@ Retval: value
 */
-ulong HP20x_dev::ReadAltitude(void)
-{
+ulong HP20x_dev::ReadAltitude(void) {
     HP20X_IIC_WriteCmd(HP20X_READ_A);
-    ulong Altitude = HP20X_IIC_ReadData();   
-    return Altitude;		
-} 
- 
+    ulong Altitude = HP20X_IIC_ReadData();
+    return Altitude;
+}
+
 /*
-void ReadPressureAndTemperature(void)
-{
+    void ReadPressureAndTemperature(void)
+    {
         HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);
         Timer_Delayxms(OSR_ConvertTime*2);
         HP20X_IIC_WriteCmd(HP20X_READ_PT);
-        
+
         Temperature=HP20X_IIC_ReadData();
-       
-        Pressure=HP20X_IIC_ReadData3byte();       
-}
 
-void IIC_ReadAltitudeAndTemperature(void)
-{
+        Pressure=HP20X_IIC_ReadData3byte();
+    }
+
+    void IIC_ReadAltitudeAndTemperature(void)
+    {
 
        HP20X_IIC_WriteCmd(HP20X_WR_CONVERT_CMD|OSR_CFG);
        Timer_Delayxms(OSR_ConvertTime*2);
        HP20X_IIC_WriteCmd(HP20X_READ_AT);
-        
+
         Temperature=HP20X_IIC_ReadData();
         IIC_ACK();
         Altitude=HP20X_IIC_ReadData3byte();
-        IIC_NoAck();      
-        IIC_Stop();  
-                   
-}*/
+        IIC_NoAck();
+        IIC_Stop();
+
+    }*/
 /****************************************************************************/
 /***       Local Functions                                                ***/
 /****************************************************************************/
@@ -136,12 +131,11 @@ void IIC_ReadAltitudeAndTemperature(void)
  **@ OutPut:
  **@ Retval:
 */
-void HP20x_dev::HP20X_IIC_WriteCmd(uchar uCmd)
-{		
-	/* Port to arduino */
-	Wire.beginTransmission(HP20X_I2C_DEV_ID);
-	Wire.write(uCmd);
-	Wire.endTransmission();
+void HP20x_dev::HP20X_IIC_WriteCmd(uchar uCmd) {
+    /* Port to arduino */
+    Wire.beginTransmission(HP20X_I2C_DEV_ID);
+    Wire.write(uCmd);
+    Wire.endTransmission();
 }
 
 /*
@@ -149,25 +143,24 @@ void HP20x_dev::HP20X_IIC_WriteCmd(uchar uCmd)
  **@ Description:
  **@ Input:
  **@ OutPut:
- **@ Retval:  
+ **@ Retval:
 */
-uchar HP20x_dev::HP20X_IIC_ReadReg(uchar bReg)
-{
+uchar HP20x_dev::HP20X_IIC_ReadReg(uchar bReg) {
     /* Port to arduino */
     uchar Temp = 0;
-	
-	/* Send a register reading command */
-    HP20X_IIC_WriteCmd(bReg|HP20X_RD_REG_MODE);	
-	 
-	Wire.requestFrom(HP20X_I2C_DEV_ID, 1);	 
-	// while(Wire.available())
-	// {
-	//     Temp = Wire.read();
-	// }
-	Temp = Wire.read();
-	 
-	return Temp;
-} 
+
+    /* Send a register reading command */
+    HP20X_IIC_WriteCmd(bReg | HP20X_RD_REG_MODE);
+
+    Wire.requestFrom(HP20X_I2C_DEV_ID, 1);
+    // while(Wire.available())
+    // {
+    //     Temp = Wire.read();
+    // }
+    Temp = Wire.read();
+
+    return Temp;
+}
 /*
  **@ Function name: HP20X_IIC_WriteReg
  **@ Description:
@@ -175,12 +168,11 @@ uchar HP20x_dev::HP20X_IIC_ReadReg(uchar bReg)
  **@ OutPut:
  **@ Retval:
 */
-void HP20x_dev::HP20X_IIC_WriteReg(uchar bReg,uchar bData)
-{       
-	Wire.beginTransmission(HP20X_I2C_DEV_ID);
-	Wire.write(bReg|HP20X_WR_REG_MODE);
-	Wire.write(bData);
-	Wire.endTransmission();
+void HP20x_dev::HP20X_IIC_WriteReg(uchar bReg, uchar bData) {
+    Wire.beginTransmission(HP20X_I2C_DEV_ID);
+    Wire.write(bReg | HP20X_WR_REG_MODE);
+    Wire.write(bData);
+    Wire.endTransmission();
 }
 
 
@@ -191,11 +183,10 @@ void HP20x_dev::HP20X_IIC_WriteReg(uchar bReg,uchar bData)
  **@ OutPut:
  **@ Retval:
 */
-ulong HP20x_dev::HP20X_IIC_ReadData(void)
-{                        
-	/* Port to arduino */	 
-	ulong Temp = HP20X_IIC_ReadData3byte(); 
-	return Temp;
+ulong HP20x_dev::HP20X_IIC_ReadData(void) {
+    /* Port to arduino */
+    ulong Temp = HP20X_IIC_ReadData3byte();
+    return Temp;
 }
 
 /*
@@ -205,60 +196,55 @@ ulong HP20x_dev::HP20X_IIC_ReadData(void)
  **@ OutPut:
  **@ Retval:
 */
-ulong HP20x_dev::HP20X_IIC_ReadData3byte(void)
-{	
-	ulong TempData = 0;
-	ulong tmpArray[3]={0};
-	int cnt = 0;
-	
-	/* Require three bytes from slave */
-	Wire.requestFrom(HP20X_I2C_DEV_ID, 3);      
-
-    while(Wire.available())     // slave may send less than requested
-    { 
-      uchar c = Wire.read();    // receive a byte as character	  	  
-	  tmpArray[cnt] = (ulong)c;
-	  cnt++;
-	}
-	
-	/* MSB */
-	TempData = tmpArray[0]<<16 | tmpArray[1]<<8 | tmpArray[2];
-
-	
-    if(TempData&0x800000)
-    {
-	    TempData|=0xff000000;
-	}
-
- /* 	// 24 bit to 32 bit 
-	if(TempData&0x800000)
-	{
-	  // 1:minus 
-	  TempData |= 0x80000000;
-	  TempData &= 0xff7fffff;
-	}
-	else
-	{
-	  // 0:plus 
-	  //do noting
-	}  */
-	return TempData;
-} 
+ulong HP20x_dev::HP20X_IIC_ReadData3byte(void) {
+    ulong TempData = 0;
+    ulong tmpArray[3] = {0};
+    int cnt = 0;
+
+    /* Require three bytes from slave */
+    Wire.requestFrom(HP20X_I2C_DEV_ID, 3);
+
+    while (Wire.available()) {  // slave may send less than requested
+        uchar c = Wire.read();    // receive a byte as character
+        tmpArray[cnt] = (ulong)c;
+        cnt++;
+    }
+
+    /* MSB */
+    TempData = tmpArray[0] << 16 | tmpArray[1] << 8 | tmpArray[2];
+
+
+    if (TempData & 0x800000) {
+        TempData |= 0xff000000;
+    }
+
+    /* 	// 24 bit to 32 bit
+        if(TempData&0x800000)
+        {
+        // 1:minus
+        TempData |= 0x80000000;
+        TempData &= 0xff7fffff;
+        }
+        else
+        {
+        // 0:plus
+        //do noting
+        }  */
+    return TempData;
+}
 
 /**
- * @brief Enable Compensation by set CMPS_EN bit on 0x0F PARA register 
+    @brief Enable Compensation by set CMPS_EN bit on 0x0F PARA register
 */
-void HP20x_dev::HP20X_EnableCompensate(void)
-{
-	HP20X_IIC_WriteReg(REG_PARA, OK_HP20X_DEV);
+void HP20x_dev::HP20X_EnableCompensate(void) {
+    HP20X_IIC_WriteReg(REG_PARA, OK_HP20X_DEV);
 }
 
 /**
- * @brief Disable Compensation by clear CMPS_EN bit on 0x0F PARA register 
+    @brief Disable Compensation by clear CMPS_EN bit on 0x0F PARA register
 */
-void HP20x_dev::HP20X_DisableCompensate(void)
-{
-	HP20X_IIC_WriteReg(REG_PARA, 0);
+void HP20x_dev::HP20X_DisableCompensate(void) {
+    HP20X_IIC_WriteReg(REG_PARA, 0);
 }
 
 /**************************************END OF FILE**************************************/

HP20x_dev.h

@@ -1,10 +1,10 @@
 /*
- * File name  : HP20x_dev.h
- * Description: Driver for I2C PRECISION BAROMETER AND ALTIMETER [HP206C]
- * Author     : Oliver Wang from Seeed studio
- * Version    : V0.1
- * Create Time: 2014/04
- * Change Log :
+    File name  : HP20x_dev.h
+    Description: Driver for I2C PRECISION BAROMETER AND ALTIMETER [HP206C]
+    Author     : Oliver Wang from Seeed studio
+    Version    : V0.1
+    Create Time: 2014/04
+    Change Log :
 */
 #ifndef _HP20X_DEV_H
 #define _HP20X_DEV_H
@@ -41,12 +41,12 @@ typedef unsigned long   ulong;
 #define HP20X_WR_REG_MODE      0xC0
 #define HP20X_RD_REG_MODE      0x80
 
-#define ERR_WR_DEVID_NACK       0x01    
-#define ERR_RD_DEVID_NACK       0x02    
-#define ERR_WR_REGADD_NACK      0x04   
-#define ERR_WR_REGCMD_NACK      0x08   
-#define ERR_WR_DATA_NACK        0x10     
-#define ERR_RD_DATA_MISMATCH    0x20 
+#define ERR_WR_DEVID_NACK       0x01
+#define ERR_RD_DEVID_NACK       0x02
+#define ERR_WR_REGADD_NACK      0x04
+#define ERR_WR_REGCMD_NACK      0x08
+#define ERR_WR_DATA_NACK        0x10
+#define ERR_RD_DATA_MISMATCH    0x20
 
 #define I2C_DID_WR_MASK         0xFE
 #define I2C_DID_RD_MASK         0x01
@@ -72,39 +72,38 @@ typedef unsigned long   ulong;
 																					process (0: disable, 1: enable). If it is enabled, 
 																					the 24‐bit or 48‐bit data read out by the commands 
 																					are fully compensated. If it is disabled, the data 
-																					read out are the raw data output.*/ 
+																					read out are the raw data output.*/
 
 /****************************************************************************/
 /***        Class Definitions                                             ***/
 /****************************************************************************/
-class HP20x_dev : public TwoWire
-{
-/* Public variables and functions */
-public:
-  uchar OSR_CFG;
-	uint  OSR_ConvertTime;
-	/* Constructor */
-	HP20x_dev();	
-	void begin();
-	
-	/* Read sensor data */
-	ulong ReadTemperature(void);
-	ulong ReadPressure(void);
-	ulong ReadAltitude(void);
-	
-  /* Private variables and functions */
+class HP20x_dev : public TwoWire {
+    /* Public variables and functions */
+  public:
+    uchar OSR_CFG;
+    uint  OSR_ConvertTime;
+    /* Constructor */
+    HP20x_dev();
+    void begin();
+
+    /* Read sensor data */
+    ulong ReadTemperature(void);
+    ulong ReadPressure(void);
+    ulong ReadAltitude(void);
+
+    /* Private variables and functions */
   private:
     /* Write a command to HP20x */
-	void HP20X_IIC_WriteCmd(uchar uCmd);
-	/* Read register value */
-	uchar HP20X_IIC_ReadReg(uchar bReg);	
-	void HP20X_IIC_WriteReg(uchar bReg,uchar bData);	 	
-	ulong HP20X_IIC_ReadData(void);
-	ulong HP20X_IIC_ReadData3byte(void);
+    void HP20X_IIC_WriteCmd(uchar uCmd);
+    /* Read register value */
+    uchar HP20X_IIC_ReadReg(uchar bReg);
+    void HP20X_IIC_WriteReg(uchar bReg, uchar bData);
+    ulong HP20X_IIC_ReadData(void);
+    ulong HP20X_IIC_ReadData3byte(void);
 
-	/* Enable or disable compensation */	
-	void HP20X_EnableCompensate(void);
-	void HP20X_DisableCompensate(void);
+    /* Enable or disable compensation */
+    void HP20X_EnableCompensate(void);
+    void HP20X_DisableCompensate(void);
 };
 extern HP20x_dev HP20x;
 #endif

KalmanFilter.cpp

@@ -1,10 +1,10 @@
 /*
- * File name  : KalmanFilter.cpp
- * Description: Kalman Filter class 
- * Author     : Oliver Wang from Seeed studio
- * Version    : V0.1
- * Create Time: 2014/04
- * Change Log :
+    File name  : KalmanFilter.cpp
+    Description: Kalman Filter class
+    Author     : Oliver Wang from Seeed studio
+    Version    : V0.1
+    Create Time: 2014/04
+    Change Log :
 */
 
 /****************************************************************************/
@@ -17,78 +17,74 @@
 #include <stdio.h>
 
 /* random number table */
-float Rand_Table[100]={
-0.5377,1.8339,-2.2588,0.8622,0.3188,-1.3077,-0.4336,0.342,3.5784, 
-2.7694,-1.3499,3.0349,0.7254,-0.0631,0.7147,-0.2050,-0.1241,1.4897, 
-1.4090,1.4172,0.6715,-1.2075,0.7172,1.6302,0.4889,1.0347,0.7269, 
--0.3034,0.2939,-0.7873,0.8884,-1.1471,-1.0689,-0.8095,-2.9443,1.4384, 
-0.3252,-0.7549,1.3703,-1.7115,-0.1022,-0.2414,0.3192,0.3129,-0.8649, 
--0.0301,-0.1649,0.6277,1.0933,1.1093,-0.8637,0.0774,-1.2141,-1.1135, 
--0.0068,1.5326,-0.7697,0.3714,-0.2256,1.1174,-1.0891,0.0326,0.5525, 
-1.1006,1.5442,0.0859,-1.4916,-0.7423,-1.0616,2.3505,-0.6156,0.7481, 
--0.1924,0.8886,-0.7648,-1.4023,-1.4224,0.4882,-0.1774,-0.1961,1.4193, 
-0.2916,0.1978,1.5877,-0.8045,0.6966,0.8351,-0.2437,0.2157,-1.1658, 
--1.1480,0.1049,0.7223,2.5855,-0.6669,0.1873,-0.0825,-1.9330,-0.439, 
--1.7947};
+float Rand_Table[100] = {
+    0.5377, 1.8339, -2.2588, 0.8622, 0.3188, -1.3077, -0.4336, 0.342, 3.5784,
+    2.7694, -1.3499, 3.0349, 0.7254, -0.0631, 0.7147, -0.2050, -0.1241, 1.4897,
+    1.4090, 1.4172, 0.6715, -1.2075, 0.7172, 1.6302, 0.4889, 1.0347, 0.7269,
+    -0.3034, 0.2939, -0.7873, 0.8884, -1.1471, -1.0689, -0.8095, -2.9443, 1.4384,
+    0.3252, -0.7549, 1.3703, -1.7115, -0.1022, -0.2414, 0.3192, 0.3129, -0.8649,
+    -0.0301, -0.1649, 0.6277, 1.0933, 1.1093, -0.8637, 0.0774, -1.2141, -1.1135,
+    -0.0068, 1.5326, -0.7697, 0.3714, -0.2256, 1.1174, -1.0891, 0.0326, 0.5525,
+    1.1006, 1.5442, 0.0859, -1.4916, -0.7423, -1.0616, 2.3505, -0.6156, 0.7481,
+    -0.1924, 0.8886, -0.7648, -1.4023, -1.4224, 0.4882, -0.1774, -0.1961, 1.4193,
+    0.2916, 0.1978, 1.5877, -0.8045, 0.6966, 0.8351, -0.2437, 0.2157, -1.1658,
+    -1.1480, 0.1049, 0.7223, 2.5855, -0.6669, 0.1873, -0.0825, -1.9330, -0.439,
+    -1.7947
+};
 
 /* Extern variables */
 KalmanFilter kalmanFilter;
 
-KalmanFilter::KalmanFilter()
-{
+KalmanFilter::KalmanFilter() {
     X_pre = 0;
-	P_pre = 0;	 
-	X_post = 0;
-	P_post = 0;
-	K_cur = 0;
+    P_pre = 0;
+    X_post = 0;
+    P_post = 0;
+    K_cur = 0;
 }
 
-float KalmanFilter::Gaussian_Noise_Cov(void)
-{
+float KalmanFilter::Gaussian_Noise_Cov(void) {
     int index = 0;
-	float tmp[10]={0.0};
-	float average = 0.0;
-	float sum = 0.0;
-	/* Initialize random number generator */
-	srand((int)analogRead(0));
-	
-	/* Get random number */
-	for(int i=0; i<10; i++)
-	{
-	    index = (int)rand()%100;
+    float tmp[10] = {0.0};
+    float average = 0.0;
+    float sum = 0.0;
+    /* Initialize random number generator */
+    srand((int)analogRead(0));
+
+    /* Get random number */
+    for (int i = 0; i < 10; i++) {
+        index = (int)rand() % 100;
         tmp[i] = Rand_Table[index];
-        sum += tmp[i];		
-	}
-	
-	/* Calculate average */
-	average = sum/10;
-	
-	/* Calculate Variance */
-	float Variance = 0.0;		
-	for(int j = 0; j < 10; j++)
-	{
-	    Variance += (tmp[j]-average)*(tmp[j]-average);
-	}
-	Variance/=10.0;
-	
-	return Variance;
+        sum += tmp[i];
+    }
+
+    /* Calculate average */
+    average = sum / 10;
+
+    /* Calculate Variance */
+    float Variance = 0.0;
+    for (int j = 0; j < 10; j++) {
+        Variance += (tmp[j] - average) * (tmp[j] - average);
+    }
+    Variance /= 10.0;
+
+    return Variance;
 }
 
-float KalmanFilter::Filter(float origin)
-{
+float KalmanFilter::Filter(float origin) {
     float modelNoise = 0.0;
-	float observeNoise = 0.0;
-	
-	/* Get model and observe Noise */
-	modelNoise = Gaussian_Noise_Cov();
-	observeNoise = Gaussian_Noise_Cov();
-	
-	/* Algorithm */
-	X_pre = X_post;
-	P_pre = P_post + modelNoise;
-	K_cur = P_pre/(P_pre + observeNoise);
-	P_post = (1 - K_cur)*P_pre;
-	X_post = X_pre + K_cur*(origin - X_pre);
-	
-	return X_post;
+    float observeNoise = 0.0;
+
+    /* Get model and observe Noise */
+    modelNoise = Gaussian_Noise_Cov();
+    observeNoise = Gaussian_Noise_Cov();
+
+    /* Algorithm */
+    X_pre = X_post;
+    P_pre = P_post + modelNoise;
+    K_cur = P_pre / (P_pre + observeNoise);
+    P_post = (1 - K_cur) * P_pre;
+    X_post = X_pre + K_cur * (origin - X_pre);
+
+    return X_post;
 }

KalmanFilter.h

@@ -1,10 +1,10 @@
 /*
- * File name  : kalmanFilter.h
- * Description:  
- * Author     : Oliver Wang from Seeed studio
- * Version    : V0.1
- * Create Time: 2014/04
- * Change Log :
+    File name  : kalmanFilter.h
+    Description:
+    Author     : Oliver Wang from Seeed studio
+    Version    : V0.1
+    Create Time: 2014/04
+    Change Log :
 */
 
 #ifndef _KALMANFILTER_H
@@ -22,16 +22,15 @@
 /****************************************************************************/
 /***        Class Definitions                                             ***/
 /****************************************************************************/
-class KalmanFilter
-{
-    public:
-	  KalmanFilter();	 
-	  float Filter(float);
-	private:
-	/* variables */
-	float X_pre, X_post, P_pre, P_post, K_cur; 
-	float Gaussian_Noise_Cov(void);
-	
+class KalmanFilter {
+  public:
+    KalmanFilter();
+    float Filter(float);
+  private:
+    /* variables */
+    float X_pre, X_post, P_pre, P_post, K_cur;
+    float Gaussian_Noise_Cov(void);
+
 };
 extern KalmanFilter kalmanFilter;
 #endif

examples/HP20x_demo/HP20x_demo.ino

@@ -1,14 +1,14 @@
 /*
- * Demo name   : HP20x_dev demo 
- * Usage       : I2C PRECISION BAROMETER AND ALTIMETER [HP206C hopeRF] 
- * Author      : Oliver Wang from Seeed Studio
- * Version     : V0.1
- * Change log  : Add kalman filter 2014/04/04
+    Demo name   : HP20x_dev demo
+    Usage       : I2C PRECISION BAROMETER AND ALTIMETER [HP206C hopeRF]
+    Author      : Oliver Wang from Seeed Studio
+    Version     : V0.1
+    Change log  : Add kalman filter 2014/04/04
 */
 
 #include <HP20x_dev.h>
 #include "Arduino.h"
-#include "Wire.h" 
+#include "Wire.h"
 #include <KalmanFilter.h>
 unsigned char ret = 0;
 
@@ -18,51 +18,48 @@ KalmanFilter p_filter;    //pressure filter
 KalmanFilter a_filter;    //altitude filter
 
 
-void setup()
-{  
-  Serial.begin(9600);        // start serial for output
-  
-  Serial.println("****HP20x_dev demo by seeed studio****\n");
-  Serial.println("Calculation formula: H = [8.5(101325-P)]/100 \n");
-  /* Power up,delay 150ms,until voltage is stable */
-  delay(150);
-  /* Reset HP20x_dev */
-  HP20x.begin();
-  delay(100);
+void setup() {
+    Serial.begin(9600);        // start serial for output
+
+    Serial.println("****HP20x_dev demo by seeed studio****\n");
+    Serial.println("Calculation formula: H = [8.5(101325-P)]/100 \n");
+    /* Power up,delay 150ms,until voltage is stable */
+    delay(150);
+    /* Reset HP20x_dev */
+    HP20x.begin();
+    delay(100);
 }
- 
 
-void loop()
-{
-	Serial.println("------------------\n");
-	long Temper = HP20x.ReadTemperature();
-	Serial.println("Temper:");
-	float t = Temper/100.0;
-	Serial.print(t);	  
-	Serial.println("C.\n");
-	Serial.println("Filter:");
-	Serial.print(t_filter.Filter(t));
-	Serial.println("C.\n");
 
-	long Pressure = HP20x.ReadPressure();
-	Serial.println("Pressure:");
-	t = Pressure/100.0;
-	Serial.print(t);
-	Serial.println("hPa.\n");
-	Serial.println("Filter:");
-	Serial.print(p_filter.Filter(t));
-	Serial.println("hPa\n");
-	
-	long Altitude = HP20x.ReadAltitude();
-	Serial.println("Altitude:");
-	t = Altitude/100.0;
-	Serial.print(t);
-	Serial.println("m.\n");
-	Serial.println("Filter:");
-	Serial.print(a_filter.Filter(t));
-	Serial.println("m.\n");
-	Serial.println("------------------\n");
-	
-	delay(1000);
+void loop() {
+    Serial.println("------------------\n");
+    long Temper = HP20x.ReadTemperature();
+    Serial.println("Temper:");
+    float t = Temper / 100.0;
+    Serial.print(t);
+    Serial.println("C.\n");
+    Serial.println("Filter:");
+    Serial.print(t_filter.Filter(t));
+    Serial.println("C.\n");
+
+    long Pressure = HP20x.ReadPressure();
+    Serial.println("Pressure:");
+    t = Pressure / 100.0;
+    Serial.print(t);
+    Serial.println("hPa.\n");
+    Serial.println("Filter:");
+    Serial.print(p_filter.Filter(t));
+    Serial.println("hPa\n");
+
+    long Altitude = HP20x.ReadAltitude();
+    Serial.println("Altitude:");
+    t = Altitude / 100.0;
+    Serial.print(t);
+    Serial.println("m.\n");
+    Serial.println("Filter:");
+    Serial.print(a_filter.Filter(t));
+    Serial.println("m.\n");
+    Serial.println("------------------\n");
+
+    delay(1000);
 }
-