diff options
Diffstat (limited to 'src/drivers/Bma421.cpp')
-rw-r--r-- | src/drivers/Bma421.cpp | 35 |
1 files changed, 22 insertions, 13 deletions
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp index d7a59cf0..925b66c7 100644 --- a/src/drivers/Bma421.cpp +++ b/src/drivers/Bma421.cpp @@ -24,7 +24,7 @@ namespace { } } -Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} { +Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster {twiMaster}, deviceAddress {twiAddress} { bma.intf = BMA4_I2C_INTF; bma.bus_read = user_i2c_read; bma.bus_write = user_i2c_write; @@ -35,25 +35,32 @@ Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, } void Bma421::Init() { - if(not isResetOk) return; // Call SoftReset (and reset TWI device) first! + if (not isResetOk) + return; // Call SoftReset (and reset TWI device) first! auto ret = bma423_init(&bma); - if(ret != BMA4_OK) return; + if (ret != BMA4_OK) + return; ret = bma423_write_config_file(&bma); - if(ret != BMA4_OK) return; + if (ret != BMA4_OK) + return; ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma); - if(ret != BMA4_OK) return; + if (ret != BMA4_OK) + return; ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma); - if(ret != BMA4_OK) return; + if (ret != BMA4_OK) + return; ret = bma423_step_detector_enable(0, &bma); - if(ret != BMA4_OK) return; + if (ret != BMA4_OK) + return; ret = bma4_set_accel_enable(1, &bma); - if(ret != BMA4_OK) return; + if (ret != BMA4_OK) + return; struct bma4_accel_config accel_conf; accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ; @@ -61,7 +68,8 @@ void Bma421::Init() { accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4; accel_conf.perf_mode = BMA4_CIC_AVG_MODE; ret = bma4_set_accel_config(&accel_conf, &bma); - if(ret != BMA4_OK) return; + if (ret != BMA4_OK) + return; isOk = true; } @@ -71,16 +79,17 @@ void Bma421::Reset() { twiMaster.Write(deviceAddress, 0x7E, &data, 1); } -void Bma421::Read(uint8_t registerAddress, uint8_t *buffer, size_t size) { +void Bma421::Read(uint8_t registerAddress, uint8_t* buffer, size_t size) { twiMaster.Read(deviceAddress, registerAddress, buffer, size); } -void Bma421::Write(uint8_t registerAddress, const uint8_t *data, size_t size) { +void Bma421::Write(uint8_t registerAddress, const uint8_t* data, size_t size) { twiMaster.Write(deviceAddress, registerAddress, data, size); } Bma421::Values Bma421::Process() { - if(not isOk) return {}; + if (not isOk) + return {}; struct bma4_accel data; bma4_read_accel_xyz(&data, &bma); @@ -109,7 +118,7 @@ void Bma421::ResetStepCounter() { void Bma421::SoftReset() { auto ret = bma4_soft_reset(&bma); - if(ret == BMA4_OK) { + if (ret == BMA4_OK) { isResetOk = true; nrf_delay_ms(1); } |