bmi323: format

BossHobby · Nov 4, 2023 · 14563d0 · 14563d0
1 parent d31221c
commit 14563d0
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Showing 2 changed files with 155 additions and 161 deletions.
diff --git a/src/driver/spi_bmi323.c b/src/driver/spi_bmi323.c
@@ -7,71 +7,70 @@
 #include "driver/time.h"
 #include "util/util.h"
 
-
 #ifdef USE_GYRO
 
 #define SPI_SPEED_SLOW MHZ_TO_HZ(4)
 #define SPI_SPEED_FAST MHZ_TO_HZ(10)
 
 extern spi_bus_device_t gyro_bus;
 
-static int8_t gyro_cas=0;// not ready 
+static int8_t gyro_cas = 0; // not ready
 
-static void bmi323_reset_to_spi(){
-// put the device in spi mode by toggeling CS
+static void bmi323_reset_to_spi() {
+  // put the device in spi mode by toggeling CS
   gpio_pin_reset(gyro_bus.nss);
   time_delay_ms(1);
   gpio_pin_set(gyro_bus.nss);
   time_delay_ms(10);
 }
 
-uint8_t bmi323_detect(){
-    bmi323_reset_to_spi();
-
-    const uint8_t whoami=bmi3_read8(BMI323_REG_CHIP_ID);
-    switch (whoami)
-    {
-    case BMI323_WHO_AMI:
-        /* code */
-        return GYRO_TYPE_BMI323;
-
-    default:
-        return GYRO_TYPE_INVALID;
-    }
-}
+uint8_t bmi323_detect() {
+  bmi323_reset_to_spi();
+
+  const uint8_t whoami = bmi3_read8(BMI323_REG_CHIP_ID);
+  switch (whoami) {
+  case BMI323_WHO_AMI:
+    return GYRO_TYPE_BMI323;
 
-static void bmi323_init(){
-    bmi323_reset_to_spi();
-    bmi3_write16(BMI323_REG_CMD,BMI323_CMD_SOFT_RESET,100);
-    bmi323_reset_to_spi();
+  default:
+    return GYRO_TYPE_INVALID;
+  }
+}
 
+static void bmi323_init() {
+  bmi323_reset_to_spi();
+  bmi3_write16(BMI323_REG_CMD, BMI323_CMD_SOFT_RESET, 100);
+  bmi323_reset_to_spi();
 }
 
-static void bmi323_init_config(){
-    //init acc conf
-    uint16_t regdata=0;
-    regdata= BMI3_ACC_BW_ODR_QUARTER<<7|BMI323_ACC_RANGE_16G<<4|BMI323_ACC_ODR_6400HZ;
-    regdata|=BMI3_ACC_MODE_HIGH_PERF<<12| BMI323_ACC_AVG1<<8;
-    bmi3_write16(BMI323_REG_ACC_CONF,regdata,1);
-    regdata=0;
-    //init gyro conf
-    regdata=BMI323_GYR_BW_ODR_QUARTER<<7|BMI323_GYR_RANGE_2000DPS<<4|BMI323_GYR_ODR_6400HZ;
-    regdata|=BMI323_GYR_MODE_HIGH_PERF<<12|BMI323_GYR_AVG1<<8;
-    bmi3_write16(BMI323_REG_GYRO_CONF,regdata,1);
-    //init data ready interupt to pin int1/ push_pull /active_high  NO_LATCH(default)
-    //BMI323_REG_IO_INT_CTRL push_pull/active_high
-    bmi3_write8(BMI323_REG_IO_INT_CTRL,BMI3_INT_OUTPUT_ENABLE<<2|BMI3_INT_PUSH_PULL<<1|BMI3_INT_ACTIVE_HIGH,1);
-    //BMI323_REG_INT_MAP2 accready /gyro_ready 
-    regdata=0;
-    regdata= 0x01<<10 | 0x01<<8;
-    bmi3_write16(BMI323_REG_INT_MAP2,regdata,15);
+static void bmi323_init_config() {
+  // init acc conf
+  uint16_t regdata = 0;
+  regdata = BMI3_ACC_BW_ODR_QUARTER << 7 | BMI323_ACC_RANGE_16G << 4 | BMI323_ACC_ODR_6400HZ;
+  regdata |= BMI3_ACC_MODE_HIGH_PERF << 12 | BMI323_ACC_AVG1 << 8;
+  bmi3_write16(BMI323_REG_ACC_CONF, regdata, 1);
+
+  // init gyro conf
+  regdata = 0;
+  regdata = BMI323_GYR_BW_ODR_QUARTER << 7 | BMI323_GYR_RANGE_2000DPS << 4 | BMI323_GYR_ODR_6400HZ;
+  regdata |= BMI323_GYR_MODE_HIGH_PERF << 12 | BMI323_GYR_AVG1 << 8;
+  bmi3_write16(BMI323_REG_GYRO_CONF, regdata, 1);
+
+  // init data ready interupt to pin int1/ push_pull /active_high  NO_LATCH(default)
+  // BMI323_REG_IO_INT_CTRL push_pull/active_high
+  bmi3_write8(BMI323_REG_IO_INT_CTRL, BMI3_INT_OUTPUT_ENABLE << 2 | BMI3_INT_PUSH_PULL << 1 | BMI3_INT_ACTIVE_HIGH, 1);
+
+  // BMI323_REG_INT_MAP2 accready /gyro_ready
+  regdata = 0;
+  regdata = 0x01 << 10 | 0x01 << 8;
+  bmi3_write16(BMI323_REG_INT_MAP2, regdata, 15);
 }
 
 void bmi323_configure() {
   bmi323_init();
   // skip CRT for now
   bmi323_init_config();
-//   bmi323_enable_cas();
+  //   bmi323_enable_cas();
 }
 
 uint8_t bmi3_read8(uint8_t reg) {
@@ -185,5 +184,4 @@ void bmi323_read_gyro_data(gyro_data_t *data) {
   data->temp = 0;
 }
 
-
 #endif