Reworked driver code, again.

bclegacy.cpp

@@ -727,24 +727,30 @@ int xmain(int argc, char **argv)
   CanSetMode(0, OP_CAN_START, CAN_CMD_ALL_CLEAR);
   CanGetDeviceStatus(0, &status);
 
-  if (status.DrvStatus >= DRV_STATUS_CAN_OPEN) {
-    if (status.CanStatus == CAN_STATUS_BUS_OFF) {
+  if (status.DrvStatus >= DRV_STATUS_CAN_OPEN)
+  {
+    if (status.CanStatus == CAN_STATUS_BUS_OFF)
+    {
       printf("CAN Status BusOff" _NL);
       CanSetMode(0, OP_CAN_RESET, CAN_CMD_NONE);
     }
-  } else {
+  }
+  else
+  {
     printf("error: could not open device" _NL);
     goto error;
   }
 
-
-
-
   consoleInSlaveMode = getValue(CONSOLE, CONSOLE_STATUS_SLAVE);
-  if (consoleInSlaveMode) {
+
+  if (consoleInSlaveMode)
+  {
     printf("console already in salve mode. good!" _NL _NL);
-  } else {
-    if (gConsoleSetSlaveMode) {
+  }
+  else
+  {
+    if (gConsoleSetSlaveMode)
+    {
       int retry = 20;
 
       printf("putting console in salve mode ... ");
@@ -756,16 +762,21 @@ int xmain(int argc, char **argv)
 
       doSleep(500); // give the console some time to settle
       printf("%s" _NL _NL, consoleInSlaveMode ? "done" : "failed");
-    } else
+    }
+    else
+    {
       printf("console not in slave mode" _NL _NL);
+    }
   }
 
-  if (gAssistInitLevel != -1) {
+  if (gAssistInitLevel != -1)
+  {
     printf("setting initial assistance level to %d" _NL, gAssistInitLevel);
     setValue(CONSOLE, CONSOLE_ASSIST_INITLEVEL, gAssistInitLevel);
   }
 
-  if (gSetSpeedLimit > 0) {
+  if (gSetSpeedLimit > 0)
+  {
     printf("set speed limit to %0.2f km/h" _NL, gSetSpeedLimit);
     setSpeedLimit(gSetSpeedLimit);
     doShutdown = 1;