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fixing autoformat issues 

Kept a few corrections
This commit is contained in:
Esben Rasmussen 2020-07-02 12:26:28 +02:00
parent 992641275d
commit 8ca85d26d5
2 changed files with 37 additions and 59 deletions
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66
imu/imu.c
View File

@ -74,17 +74,17 @@ void imu_init(imu_config *set) {
if (set->type == IMU_TYPE_INTERNAL) {
#ifdef MPU9X50_SDA_GPIO
imu_init_mpu9x50(MPU9X50_SDA_GPIO, MPU9X50_SDA_PIN,
MPU9X50_SCL_GPIO, MPU9X50_SCL_PIN);
MPU9X50_SCL_GPIO, MPU9X50_SCL_PIN);
#endif
#ifdef ICM20948_SDA_GPIO
imu_init_icm20948(ICM20948_SDA_GPIO, ICM20948_SDA_PIN,
ICM20948_SCL_GPIO, ICM20948_SCL_PIN, ICM20948_AD0_VAL);
ICM20948_SCL_GPIO, ICM20948_SCL_PIN, ICM20948_AD0_VAL);
#endif
#ifdef BMI160_SDA_GPIO
imu_init_bmi160_i2c(BMI160_SDA_GPIO, BMI160_SDA_PIN,
BMI160_SCL_GPIO, BMI160_SCL_PIN);
BMI160_SCL_GPIO, BMI160_SCL_PIN);
#endif
#ifdef LSM6DS3_SDA_GPIO
@ -94,30 +94,26 @@ void imu_init(imu_config *set) {
#ifdef BMI160_SPI_PORT_NSS
imu_init_bmi160_spi(
BMI160_SPI_PORT_NSS, BMI160_SPI_PIN_NSS,
BMI160_SPI_PORT_SCK, BMI160_SPI_PIN_SCK,
BMI160_SPI_PORT_MOSI, BMI160_SPI_PIN_MOSI,
BMI160_SPI_PORT_MISO, BMI160_SPI_PIN_MISO);
BMI160_SPI_PORT_NSS, BMI160_SPI_PIN_NSS,
BMI160_SPI_PORT_SCK, BMI160_SPI_PIN_SCK,
BMI160_SPI_PORT_MOSI, BMI160_SPI_PIN_MOSI,
BMI160_SPI_PORT_MISO, BMI160_SPI_PIN_MISO);
#endif
}
else if (set->type == IMU_TYPE_EXTERNAL_MPU9X50) {
} else if (set->type == IMU_TYPE_EXTERNAL_MPU9X50) {
imu_init_mpu9x50(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
}
else if (set->type == IMU_TYPE_EXTERNAL_ICM20948) {
HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
} else if (set->type == IMU_TYPE_EXTERNAL_ICM20948) {
imu_init_icm20948(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, 0);
} else if (set->type == IMU_TYPE_EXTERNAL_BMI160) {
imu_init_bmi160(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
}else if(set->type == IMU_TYPE_EXTERNAL_LSM6DS3){
} else if(set->type == IMU_TYPE_EXTERNAL_LSM6DS3) {
imu_init_lsm6ds3(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
}
else if (set->type == IMU_TYPE_EXTERNAL_BMI160)
{
} else if (set->type == IMU_TYPE_EXTERNAL_BMI160) {
imu_init_bmi160_i2c(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
}
terminal_register_command_callback(
@ -132,7 +128,7 @@ i2c_bb_state *imu_get_i2c(void) {
}
void imu_init_mpu9x50(stm32_gpio_t *sda_gpio, int sda_pin,
stm32_gpio_t *scl_gpio, int scl_pin) {
stm32_gpio_t *scl_gpio, int scl_pin) {
imu_stop();
mpu9150_init(sda_gpio, sda_pin,
@ -142,8 +138,7 @@ void imu_init_mpu9x50(stm32_gpio_t *sda_gpio, int sda_pin,
}
void imu_init_icm20948(stm32_gpio_t *sda_gpio, int sda_pin,
stm32_gpio_t *scl_gpio, int scl_pin,
int ad0_val) {
stm32_gpio_t *scl_gpio, int scl_pin, int ad0_val) {
imu_stop();
m_i2c_bb.sda_gpio = sda_gpio;
@ -159,7 +154,7 @@ void imu_init_icm20948(stm32_gpio_t *sda_gpio, int sda_pin,
}
void imu_init_bmi160_i2c(stm32_gpio_t *sda_gpio, int sda_pin,
stm32_gpio_t *scl_gpio, int scl_pin)
stm32_gpio_t *scl_gpio, int scl_pin)
{
imu_stop();
@ -179,11 +174,10 @@ void imu_init_bmi160_i2c(stm32_gpio_t *sda_gpio, int sda_pin,
}
void imu_init_bmi160_spi(
stm32_gpio_t *nss_gpio, int nss_pin,
stm32_gpio_t *sck_gpio, int sck_pin,
stm32_gpio_t *mosi_gpio, int mosi_pin,
stm32_gpio_t *miso_gpio, int miso_pin)
{
stm32_gpio_t *nss_gpio, int nss_pin,
stm32_gpio_t *sck_gpio, int sck_pin,
stm32_gpio_t *mosi_gpio, int mosi_pin,
stm32_gpio_t *miso_gpio, int miso_pin) {
imu_stop();
m_spi_bb.nss_gpio = nss_gpio;
@ -410,10 +404,10 @@ void imu_get_calibration(float yaw, float *imu_cal) {
m_settings.sample_rate_hz = backup_sample_rate;
m_settings.mode = backup_ahrs_mode;
ahrs_update_all_parameters(
m_settings.accel_confidence_decay,
m_settings.mahony_kp,
m_settings.mahony_ki,
m_settings.madgwick_beta);
m_settings.accel_confidence_decay,
m_settings.mahony_kp,
m_settings.mahony_ki,
m_settings.madgwick_beta);
m_settings.rot_roll = backup_roll;
m_settings.rot_pitch = backup_pitch;
m_settings.rot_yaw = backup_yaw;
@ -471,15 +465,9 @@ static void imu_read_callback(float *accel, float *gyro, float *mag)
float s3 = sinf(m_settings.rot_roll * M_PI / 180.0);
float c3 = cosf(m_settings.rot_roll * M_PI / 180.0);
float m11 = c1 * c2;
float m12 = c1 * s2 * s3 - c3 * s1;
float m13 = s1 * s3 + c1 * c3 * s2;
float m21 = c2 * s1;
float m22 = c1 * c3 + s1 * s2 * s3;
float m23 = c3 * s1 * s2 - c1 * s3;
float m31 = -s2;
float m32 = c2 * s3;
float m33 = c2 * c3;
float m11 = c1 * c2; float m12 = c1 * s2 * s3 - c3 * s1; float m13 = s1 * s3 + c1 * c3 * s2;
float m21 = c2 * s1; float m22 = c1 * c3 + s1 * s2 * s3; float m23 = c3 * s1 * s2 - c1 * s3;
float m31 = -s2; float m32 = c2 * s3; float m33 = c2 * c3;
m_accel[0] = accel[0] * m11 + accel[1] * m12 + accel[2] * m13;
m_accel[1] = accel[0] * m21 + accel[1] * m22 + accel[2] * m23;

30
spi_bb.c
View File

@ -37,22 +37,18 @@ void spi_bb_init(spi_bb_state *s) {
}
uint8_t spi_exchange_8(spi_bb_state *s, uint8_t x)
{
uint8_t spi_exchange_8(spi_bb_state *s, uint8_t x) {
uint8_t rx;
spi_transfer_8(s ,&rx, &x, 1);
return rx;
}
void spi_transfer_8(spi_bb_state *s, uint8_t *in_buf, const uint8_t *out_buf, int length)
{
for (int i = 0; i < length; i++)
{
void spi_transfer_8(spi_bb_state *s, uint8_t *in_buf, const uint8_t *out_buf, int length) {
for (int i = 0; i < length; i++) {
uint8_t send = out_buf ? out_buf[i] : 0xFF;
uint8_t receive = 0;
for (int bit = 0; bit < 8; bit++)
{
for (int bit = 0; bit < 8; bit++) {
palWritePad(s->mosi_gpio, s->mosi_pin, send >> 7);
send <<= 1;
@ -74,39 +70,33 @@ void spi_transfer_8(spi_bb_state *s, uint8_t *in_buf, const uint8_t *out_buf, in
// does 5 samples of each pad read, to minimize noise
receive <<= 1;
if (samples > 2)
{
if (samples > 2) {
receive |= 1;
}
spi_delay();
}
if (in_buf)
{
if (in_buf) {
in_buf[i] = receive;
}
}
}
void spi_begin(spi_bb_state *s)
{
void spi_begin(spi_bb_state *s) {
spi_delay();
palClearPad(s->nss_gpio, s->nss_pin);
spi_delay();
}
void spi_end(spi_bb_state *s)
{
void spi_end(spi_bb_state *s) {
spi_delay();
palSetPad(s->nss_gpio, s->nss_pin);
spi_delay();
}
void spi_delay(void)
{
for (volatile int i = 0; i < 40; i++)
{
void spi_delay(void) {
for (volatile int i = 0; i < 40; i++) {
__NOP();
}
}