Feature/add process raw imu (#13)

* initial changes, will add changes to track Fs and update processed values

* changing prints to remove duplicate box brackets

* clang-format.yml addded to do post-commit

* updating clang-format with something better for formatting

* adding changes to process raw counts

* clang-format changes

* Auto format code with clang-format

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>

Author: mdkul22

.clang-format

@@ -1,41 +1,5 @@
-BasedOnStyle: Google
+BasedOnStyle: WebKit
 IndentWidth: 2
-TabWidth: 4
+TabWidth: 2
 UseTab: Never
 ColumnLimit: 100
-BreakBeforeBraces: Allman
-AllowShortIfStatementsOnASingleLine: Never
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakTemplateDeclarations: Yes
-BinPackArguments: false
-BinPackParameters: false
-ConstructorInitializerIndentWidth: 2
-ContinuationIndentWidth: 2
-DerivePointerAlignment: false
-PointerAlignment: Left
-IndentCaseLabels: true
-IndentSwitchCaseLabels: true
-SpaceAfterCStyleCast: true
-SortIncludes: Never
-IndentPPDirectives: AfterHash
-Cpp11BracedListStyle: true
-IncludeBlocks: Preserve
-SortUsingDeclarations: false
-
-# Additional options for personal preferences
-SpaceBeforeParens: ControlStatements
-AllowAllParametersOfDeclarationOnNextLine: false
-KeepEmptyLinesAtTheStartOfBlocks: false
-BreakConstructorInitializersBeforeComma: false
-PenaltyBreakComment: 10
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 100
-PenaltyReturnTypeOnItsOwnLine: 200
-AlignAfterOpenBracket: Align
-AlignOperands: Align
-AlignTrailingComments: true
-BreakStringLiterals: true
-ReflowComments: true
-SpacesInParentheses: false
-SpacesInSquareBrackets: false
-SpaceBeforeRangeBasedForLoopColon: true

.github/workflows/clang-format.yml

@@ -0,0 +1,38 @@
+name: clang-format check
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v2
+      with:
+        ref: ${{ github.head_ref }}
+
+    - name: Install clang-format
+      run: sudo apt-get install -y clang-format
+
+    - name: Run clang-format on C++ files
+      run: |
+        find . -name '*.cpp' -o -name '*.h' | xargs clang-format -i
+
+    - name: Check for changes
+      run: |
+        git config --global user.name 'github-actions[bot]'
+        git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+        if [[ `git status --porcelain` ]]; then
+          git add .
+          git commit -m "Auto format code with clang-format"
+          git push origin HEAD:${{ github.head_ref }}
+        else
+          echo "No formatting needed"
+        fi

inc/hw_config.h

@@ -3,9 +3,9 @@
 #include "sys_common.h"
 
 enum _hw_config_pins {
-    QMI_SDA_PIN     =       6,
-    QMI_SCL_PIN     =       7,
-}; 
+  QMI_SDA_PIN = 6,
+  QMI_SCL_PIN = 7,
+};
 
 status_t init_hardware();
 status_t deinit_hardware();

inc/interrupts.h

@@ -3,4 +3,3 @@
 void setup_interrupts();
 void enable_interrupts();
 void disable_interrupts();
-

inc/qmi8658.h

@@ -7,6 +7,7 @@
 #define QMI8658_I2C_ADDR 0x6b
 #define QMI_I2C_PORT i2c1
 #define QMI_DEFAULT_REV_ID 0x7b
+
 // Register addresses
 enum __QMI8658Registers {
   QMI_WHOAMI_REG = 0x00,
@@ -45,7 +46,7 @@ enum __QMI8658Registers {
 enum __QMICTRL1RegisterActions {
   QMIC1_SENSOR_DISABLE = 0x01,
   QMIC1_SPI_BE_EN = 0x20, // SPI read big endian enable
-  QMIC1_AI_EN = 0x40,     // auto increment enable
+  QMIC1_AI_EN = 0x40, // auto increment enable
   QMIC1_SIM3_EN = 0x80,
   QMIC1_DEFAULT = QMIC1_SPI_BE_EN | QMIC1_AI_EN,
 };
@@ -108,13 +109,13 @@ enum __QMICTRL5RegisterActions {
   QMIC5_ACCL_LPF_MODE_2 = 0x02 << 1, // 5.32% BW
   QMIC5_ACCL_LPF_MODE_3 = 0x03 << 1, // 14.0% BW
   QMIC5_ACCL_LPF_ENABLE = 0x01 << 0, // Accl LPF Enable
-  QMIC5_DEFAULT = QMIC5_GYRO_LPF_MODE_0 | QMIC5_GYRO_LPF_ENABLE |
-                  QMIC5_ACCL_LPF_MODE_0 | QMIC5_ACCL_LPF_ENABLE,
+  QMIC5_DEFAULT
+  = QMIC5_GYRO_LPF_MODE_0 | QMIC5_GYRO_LPF_ENABLE | QMIC5_ACCL_LPF_MODE_0 | QMIC5_ACCL_LPF_ENABLE,
 };
 
 // Attitude Engine actions
 enum __QMICTRL6RegisterActions {
-  QMIC6_SMOD_EN = 1 << 7,   // requires sEN = 1
+  QMIC6_SMOD_EN = 1 << 7, // requires sEN = 1
   QMIC6_ATT_ODR_0 = 0x00 << 0, // 1 Hz
   QMIC6_ATT_ODR_1 = 0x01 << 0, // 2 Hz
   QMIC6_ATT_ODR_2 = 0x02 << 0, // 4 Hz
@@ -127,21 +128,21 @@ enum __QMICTRL6RegisterActions {
 
 // Sensor enable + data read configure
 enum __QMIC7RegisterActions {
-  QMIC7_SS_EN = 0x01 << 7,          // sync sample enable
-  QMIC7_HSC_EN = 0x01 << 6,         // high speed internal clock enable
+  QMIC7_SS_EN = 0x01 << 7, // sync sample enable
+  QMIC7_HSC_EN = 0x01 << 6, // high speed internal clock enable
   QMIC7_GYRO_SNOOZE_EN = 0x01 << 4, // gyro snooze mode enable
-  QMIC7_ATT_EN = 0x01 << 3,         // attitude engine enable
-  QMIC7_MAG_EN = 0x01 << 2,         // external mag enable
-  QMIC7_GYRO_EN = 0x01 << 1,        // gyro enable
-  QMIC7_ACCL_EN = 0x01 << 0,             // accel enable
+  QMIC7_ATT_EN = 0x01 << 3, // attitude engine enable
+  QMIC7_MAG_EN = 0x01 << 2, // external mag enable
+  QMIC7_GYRO_EN = 0x01 << 1, // gyro enable
+  QMIC7_ACCL_EN = 0x01 << 0, // accel enable
   QMIC7_DEFAULT = QMIC7_ACCL_EN | QMIC7_GYRO_EN,
 };
 
 typedef struct _qmi_imu_pkt {
   int16_t raw[3];
-  float x;
-  float y;
-  float z;
+  double x;
+  double y;
+  double z;
 } imu_pkt_t;
 
 typedef enum _qmi_odr_config {
@@ -157,32 +158,32 @@ typedef enum _qmi_odr_config {
   QMI_ODR_128HZ_LP, // illegal for gyro
   QMI_ODR_21HZ_LP,
   QMI_ODR_11HZ_LP,
-  QMI_ODR_3HZ_LP, 
+  QMI_ODR_3HZ_LP,
   QMI_ATT_ODR_1HZ, // illegal for gyro, accel
   QMI_ATT_ODR_2HZ,
   QMI_ATT_ODR_4HZ,
   QMI_ATT_ODR_8HZ,
   QMI_ATT_ODR_16HZ,
   QMI_ATT_ODR_32HZ,
   QMI_ATT_ODR_64HZ,
-} qmi_odr_config_e; 
+} qmi_odr_config_e;
 
 typedef enum _qmi_dps_config {
-  QMI_DPS_16 = 0,
-  QMI_DPS_32,
-  QMI_DPS_64,
-  QMI_DPS_128,
-  QMI_DPS_256,
-  QMI_DPS_512,
-  QMI_DPS_1024,
-  QMI_DPS_2048,
+  QMI_DPS_16 = 16,
+  QMI_DPS_32 = 32,
+  QMI_DPS_64 = 64,
+  QMI_DPS_128 = 128,
+  QMI_DPS_256 = 256,
+  QMI_DPS_512 = 512,
+  QMI_DPS_1024 = 1024,
+  QMI_DPS_2048 = 2048,
 } qmi_dps_config_e;
 
 typedef enum _qmi_g_config {
-  QMI_G_2 = 0,
-  QMI_G_4,
-  QMI_G_8,
-  QMI_G_16,
+  QMI_G_2 = 2,
+  QMI_G_4 = 4,
+  QMI_G_8 = 8,
+  QMI_G_16 = 16,
 } qmi_g_config_e;
 
 typedef struct _qmi_enabled {
@@ -241,7 +242,7 @@ typedef struct _qmi_imu_config {
   qmi_component_config_t accl_config;
 } imu_config_t;
 
-// TODO: add attitude pkt 
+// TODO: add attitude pkt
 typedef struct _QMI8658State {
   qmi_chip_info_t chip_info;
   uint64_t imu_timestamp;
@@ -255,12 +256,10 @@ status_t qmi8658_configure();
 status_t qmi8658_enable_imu();
 status_t qmi8658_disable_imu();
 void qmi8658_print_raw();
+void qmi8658_process_raw();
 void qmi8658_interrupt_handler(uint gpio, uint32_t event_mask); // read data
-void qmi8658_read_xyz_raw(int16_t raw_acc_xyz[3], int16_t raw_gyro_xyz[3],
-                          uint64_t *ts);
+void qmi8658_read_xyz_raw(int16_t raw_acc_xyz[3], int16_t raw_gyro_xyz[3], uint64_t* ts);
 status_t qmi8658_verify_chip(qmi_chip_info_t* chip_info);
 status_t qmi8658_write_register(uint8_t reg, uint8_t data, uint8_t len);
-status_t qmi8658_read_register(uint8_t reg_addr, uint8_t *value);
-status_t qmi8658_read_nregisters(uint8_t start_addr, uint8_t *pData,
-                                 uint8_t len);
-// status_t qmi8658_write_regs();
+status_t qmi8658_read_register(uint8_t reg_addr, uint8_t* value);
+status_t qmi8658_read_nregisters(uint8_t start_addr, uint8_t* pData, uint8_t len);

inc/sys_common.h

@@ -1,20 +1,20 @@
-#pragma once 
+#pragma once
 
 typedef enum _status_t {
-    STATUS_OK = 0,
-    STATUS_FAIL_HW_COMM,
-    STATUS_QMI_I2C_READ_FAIL,
-    STATUS_QMI_CHIP_NOT_VERIFIED,
-    STATUS_NULL_PTR_ERROR,
-    STATUS_FAIL,
+  STATUS_OK = 0,
+  STATUS_FAIL_HW_COMM,
+  STATUS_QMI_I2C_READ_FAIL,
+  STATUS_QMI_CHIP_NOT_VERIFIED,
+  STATUS_NULL_PTR_ERROR,
+  STATUS_FAIL,
 } status_t;
 
 typedef enum _print_type_e {
-    DEBUG = 0,
-    WARNING, 
-    ERROR,
-    INFO,
+  DEBUG = 0,
+  WARNING,
+  ERROR,
+  INFO,
 } print_type_e;
 
-void gprintf(print_type_e type, const char* format, ...); 
+void gprintf(print_type_e type, const char* format, ...);
 void handle_status(status_t status, const char* format, ...);

main.c

@@ -14,7 +14,7 @@ int main() {
     uint64_t time_count;
     while (true) {
         /* move qmi init and configure to configure hardware */
-        qmi8658_print_raw();
+        qmi8658_process_raw();
         sleep_ms(10);
     }
     return 0;