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Fixed compilation warnings #23

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4f2e818
removed unnessary magReading
Jun 17, 2024
5e42105
refactored initializer for AccelData, GyroData, MagData and calData
floBik Jun 27, 2024
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4 changes: 2 additions & 2 deletions src/F_AK8963.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ int AK8963::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
calibration.magScale[0] = 1.f;
calibration.magScale[1] = 1.f;
calibration.magScale[2] = 1.f;
Expand Down Expand Up @@ -183,4 +183,4 @@ void AK8963::calibrateMag(calData* cal)
cal->magScale[0] = avg_rad / ((float)mag_scale[0]);
cal->magScale[1] = avg_rad / ((float)mag_scale[1]);
cal->magScale[2] = avg_rad / ((float)mag_scale[2]);
}
}
4 changes: 2 additions & 2 deletions src/F_AK8963.hpp
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Expand Up @@ -76,7 +76,7 @@ class AK8963 : public IMUBase {

int geometryIndex = 0;
float temperature = 0.f;
MagData mag = { 0 };
MagData mag = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down Expand Up @@ -113,7 +113,7 @@ class AK8963 : public IMUBase {
} // Put read results in the Rx buffer
}

float factoryMagCal[3] = { 0 };
float factoryMagCal[3] = { 0, 0, 0 };

bool dataAvailable(){ return (readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01);}
};
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4 changes: 2 additions & 2 deletions src/F_AK8975.cpp
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Expand Up @@ -8,7 +8,7 @@ int AK8975::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
calibration.magScale[0] = 1.f;
calibration.magScale[1] = 1.f;
calibration.magScale[2] = 1.f;
Expand Down Expand Up @@ -192,4 +192,4 @@ void AK8975::calibrateMag(calData* cal)
cal->magScale[0] = avg_rad / ((float)mag_scale[0]);
cal->magScale[1] = avg_rad / ((float)mag_scale[1]);
cal->magScale[2] = avg_rad / ((float)mag_scale[2]);
}
}
4 changes: 2 additions & 2 deletions src/F_AK8975.hpp
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Expand Up @@ -76,7 +76,7 @@ class AK8975 : public IMUBase {

int geometryIndex = 0;
float temperature = 0.f;
MagData mag = { 0 };
MagData mag = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down Expand Up @@ -113,7 +113,7 @@ class AK8975 : public IMUBase {
} // Put read results in the Rx buffer
}

float factoryMagCal[3] = { 0 };
float factoryMagCal[3] = { 0, 0, 0 };

bool dataAvailable()
{
Expand Down
4 changes: 2 additions & 2 deletions src/F_BMI055.cpp
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Expand Up @@ -17,7 +17,7 @@ int BMI055::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -304,4 +304,4 @@ void BMI055::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1];
cal->gyroBias[2] = (float)gyro_bias[2];
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_BMI055.hpp
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Expand Up @@ -86,8 +86,8 @@ class BMI055 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;

Expand Down
4 changes: 2 additions & 2 deletions src/F_BMI160.cpp
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Expand Up @@ -9,7 +9,7 @@ int BMI160::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -277,4 +277,4 @@ void BMI160::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1];
cal->gyroBias[2] = (float)gyro_bias[2];
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_BMI160.hpp
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Expand Up @@ -148,8 +148,8 @@ class BMI160 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
8 changes: 2 additions & 6 deletions src/F_BMX055.cpp
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Expand Up @@ -20,7 +20,7 @@ int BMX055::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
calibration.magScale[0] = 1.f;
calibration.magScale[1] = 1.f;
calibration.magScale[2] = 1.f;
Expand Down Expand Up @@ -356,17 +356,13 @@ void BMX055::calibrateMag(calData* cal)
{
int16_t MagCount[3];
uint8_t rawDataMag[6];
float magReading[3];

readBytes(MagAddress, BMX055_MAG_X_LSB, 6, &rawDataMag[0]); // Read the 6 raw magnetometer data registers into data array

MagCount[0] = ((rawDataMag[1] << 8) | (rawDataMag[0] & 0xF8)) >> 3; // Turn the MSB and LSB into a signed 13-bit value
MagCount[1] = ((rawDataMag[3] << 8) | (rawDataMag[2] & 0xF8)) >> 3;
MagCount[2] = ((rawDataMag[5] << 8) | (rawDataMag[4] & 0xFE)) >> 1; // Turn the MSB and LSB into a signed 15-bit value

magReading[1] = (float)(MagCount[0] * mResXY);
magReading[2] = (float)(MagCount[1] * mResXY);
magReading[3] = (float)(MagCount[2] * mResZ);

for (int jj = 0; jj < 3; jj++)
{
Expand Down Expand Up @@ -396,4 +392,4 @@ void BMX055::calibrateMag(calData* cal)
cal->magScale[0] = avg_rad / ((float)mag_scale[0]);
cal->magScale[1] = avg_rad / ((float)mag_scale[1]);
cal->magScale[2] = avg_rad / ((float)mag_scale[2]);
}
}
6 changes: 3 additions & 3 deletions src/F_BMX055.hpp
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Expand Up @@ -108,9 +108,9 @@ class BMX055 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
MagData mag = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };
MagData mag = { 0, 0, 0 };

calData calibration;

Expand Down
4 changes: 2 additions & 2 deletions src/F_HMC5883L.cpp
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Expand Up @@ -10,7 +10,7 @@ int HMC5883L::init(calData cal, uint8_t address)
//load cal
if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
calibration.magScale[0] = 1.f;
calibration.magScale[1] = 1.f;
calibration.magScale[2] = 1.f;
Expand Down Expand Up @@ -170,4 +170,4 @@ void HMC5883L::calibrateMag(calData* cal)
cal->magScale[0] = avg_rad / ((float)mag_scale[0]);
cal->magScale[1] = avg_rad / ((float)mag_scale[1]);
cal->magScale[2] = avg_rad / ((float)mag_scale[2]);
}
}
2 changes: 1 addition & 1 deletion src/F_HMC5883L.hpp
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Expand Up @@ -69,7 +69,7 @@ class HMC5883L : public IMUBase {
private:
float mRes = 10. * 819.2f / 2048.f; //mRes value for full range (+-819.2uT scaled * 10) readings (12 bit)
int geometryIndex = 0;
MagData mag = { 0 };
MagData mag = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
4 changes: 2 additions & 2 deletions src/F_ICM20689.cpp
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Expand Up @@ -9,7 +9,7 @@ int ICM20689::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -324,4 +324,4 @@ void ICM20689::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1] / (float)gyrosensitivity;
cal->gyroBias[2] = (float)gyro_bias[2] / (float)gyrosensitivity;
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_ICM20689.hpp
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Expand Up @@ -129,8 +129,8 @@ class ICM20689 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
4 changes: 2 additions & 2 deletions src/F_ICM20690.cpp
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Expand Up @@ -9,7 +9,7 @@ int ICM20690::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -324,4 +324,4 @@ void ICM20690::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1] / (float)gyrosensitivity;
cal->gyroBias[2] = (float)gyro_bias[2] / (float)gyrosensitivity;
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_ICM20690.hpp
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Expand Up @@ -128,8 +128,8 @@ class ICM20690 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
4 changes: 2 additions & 2 deletions src/F_IMU_Generic.cpp
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Expand Up @@ -9,7 +9,7 @@ int IMU_Generic::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
calibration.magScale[0] = 1.f;
calibration.magScale[1] = 1.f;
calibration.magScale[2] = 1.f;
Expand Down Expand Up @@ -474,4 +474,4 @@ void IMU_Generic::calibrateMag(calData* cal)
cal->magScale[0] = avg_rad / ((float)mag_scale[0]);
cal->magScale[1] = avg_rad / ((float)mag_scale[1]);
cal->magScale[2] = avg_rad / ((float)mag_scale[2]);
}
}
8 changes: 4 additions & 4 deletions src/F_IMU_Generic.hpp
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Expand Up @@ -207,9 +207,9 @@ class IMU_Generic : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
MagData mag = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };
MagData mag = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down Expand Up @@ -246,7 +246,7 @@ class IMU_Generic : public IMUBase {
} // Put read results in the Rx buffer
}

float factoryMagCal[3] = { 0 };
float factoryMagCal[3] = { 0, 0, 0 };

bool dataAvailable(){ return (readByte(IMUAddress, IMU_Generic_INT_STATUS) & 0x01);}
};
Expand Down
4 changes: 2 additions & 2 deletions src/F_LSM6DS3.cpp
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Expand Up @@ -9,7 +9,7 @@ int LSM6DS3::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -257,4 +257,4 @@ void LSM6DS3::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1];
cal->gyroBias[2] = (float)gyro_bias[2];
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_LSM6DS3.hpp
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Expand Up @@ -98,8 +98,8 @@ class LSM6DS3 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
4 changes: 2 additions & 2 deletions src/F_LSM6DSL.cpp
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Expand Up @@ -9,7 +9,7 @@ int LSM6DSL::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -258,4 +258,4 @@ void LSM6DSL::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1];
cal->gyroBias[2] = (float)gyro_bias[2];
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_LSM6DSL.hpp
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Expand Up @@ -99,8 +99,8 @@ class LSM6DSL : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
4 changes: 2 additions & 2 deletions src/F_MPU6050.cpp
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Expand Up @@ -9,7 +9,7 @@ int MPU6050::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -321,4 +321,4 @@ void MPU6050::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1] / (float)gyrosensitivity;
cal->gyroBias[2] = (float)gyro_bias[2] / (float)gyrosensitivity;
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_MPU6050.hpp
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Expand Up @@ -114,8 +114,8 @@ class MPU6050 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
4 changes: 2 additions & 2 deletions src/F_MPU6500.cpp
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Expand Up @@ -9,7 +9,7 @@ int MPU6500::init(calData cal, uint8_t address)

if (cal.valid == false)
{
calibration = { 0 };
calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};
}
else
{
Expand Down Expand Up @@ -325,4 +325,4 @@ void MPU6500::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1] / (float)gyrosensitivity;
cal->gyroBias[2] = (float)gyro_bias[2] / (float)gyrosensitivity;
cal->valid = true;
}
}
4 changes: 2 additions & 2 deletions src/F_MPU6500.hpp
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Expand Up @@ -184,8 +184,8 @@ class MPU6500 : public IMUBase {
int geometryIndex = 0;

float temperature = 0.f;
AccelData accel = { 0 };
GyroData gyro = { 0 };
AccelData accel = { 0, 0, 0 };
GyroData gyro = { 0, 0, 0 };

calData calibration;
uint8_t IMUAddress;
Expand Down
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