diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/sensor/sensor.cpp | 53 | ||||
| -rw-r--r-- | src/sensor/sensor.hpp | 38 |
2 files changed, 46 insertions, 45 deletions
diff --git a/src/sensor/sensor.cpp b/src/sensor/sensor.cpp index 5ca5dc3..9f48e7f 100644 --- a/src/sensor/sensor.cpp +++ b/src/sensor/sensor.cpp @@ -16,7 +16,7 @@ Sensor::Sensor(uint8_t address, TwoWire wire, SerialStream sout, { } -bool Sensor::begin() +bool Sensor::begin() noexcept { _wire.begin(); @@ -32,13 +32,13 @@ bool Sensor::begin() return false; } -bool Sensor::isConnected() +bool Sensor::isConnected() noexcept { _wire.beginTransmission(_address); return (_wire.endTransmission() == 0); } -bool Sensor::read() +bool Sensor::read() noexcept { auto now = time_now(); @@ -168,7 +168,7 @@ bool Sensor::read() return true; } -bool Sensor::setAccelSensitivity(uint8_t sensitivity) +bool Sensor::setAccelSensitivity(uint8_t sensitivity) noexcept { if (sensitivity > 3) { @@ -177,7 +177,7 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity) _accel_sensitivity = sensitivity; - uint8_t accel_config = getRegister(SensorRegisters::ACCEL_CONFIG); + auto accel_config = static_cast<int>(getRegister(SensorRegisters::ACCEL_CONFIG)); if (_status != SensorStatus::OK) { @@ -190,9 +190,10 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity) const uint8_t magic = 0xE7U; accel_config &= magic; - accel_config |= (_accel_sensitivity << 3); + accel_config |= (_accel_sensitivity << 3U); - if (!setRegister(SensorRegisters::ACCEL_CONFIG, accel_config)) + if (!setRegister(SensorRegisters::ACCEL_CONFIG, + static_cast<uint8_t>(accel_config))) { return false; } @@ -204,7 +205,7 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity) return true; } -bool Sensor::setGyroSensitivity(uint8_t sensitivity) +bool Sensor::setGyroSensitivity(uint8_t sensitivity) noexcept { if (sensitivity > 3) { @@ -213,7 +214,7 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity) _gyro_sensitivity = sensitivity; - uint8_t gyro_config = getRegister(SensorRegisters::GYRO_CONFIG); + auto gyro_config = static_cast<int>(getRegister(SensorRegisters::GYRO_CONFIG)); if (_status != SensorStatus::OK) { @@ -226,9 +227,9 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity) const uint8_t magic = 0xE7U; gyro_config &= magic; - gyro_config |= (_gyro_sensitivity << 3); + gyro_config |= (_gyro_sensitivity << 3U); - if (!setRegister(SensorRegisters::GYRO_CONFIG, gyro_config)) + if (!setRegister(SensorRegisters::GYRO_CONFIG, static_cast<uint8_t>(gyro_config))) { return false; } @@ -239,57 +240,57 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity) return true; } -double Sensor::getAccelX() const +double Sensor::getAccelX() const noexcept { return _accel_raw_x; } -double Sensor::getAccelY() const +double Sensor::getAccelY() const noexcept { return _accel_raw_y; } -double Sensor::getAccelZ() const +double Sensor::getAccelZ() const noexcept { return _accel_raw_z; } -double Sensor::getAngleX() const +double Sensor::getAngleX() const noexcept { return _accel_x; } -double Sensor::getAngleY() const +double Sensor::getAngleY() const noexcept { return _accel_y; } -double Sensor::getGyroX() const +double Sensor::getGyroX() const noexcept { return _gyro_raw_x; } -double Sensor::getGyroY() const +double Sensor::getGyroY() const noexcept { return _gyro_raw_y; } -double Sensor::getGyroZ() const +double Sensor::getGyroZ() const noexcept { return _gyro_raw_z; } -double Sensor::getPitch() const +double Sensor::getPitch() const noexcept { return _pitch; } -double Sensor::getRoll() const +double Sensor::getRoll() const noexcept { return _roll; } -bool Sensor::setRegister(uint8_t reg, uint8_t value) +bool Sensor::setRegister(uint8_t reg, uint8_t value) noexcept { _wire.beginTransmission(_address); _wire.write(reg); @@ -304,7 +305,7 @@ bool Sensor::setRegister(uint8_t reg, uint8_t value) return true; } -uint8_t Sensor::getRegister(uint8_t reg) +uint8_t Sensor::getRegister(uint8_t reg) noexcept { _wire.beginTransmission(_address); _wire.write(reg); @@ -322,10 +323,10 @@ uint8_t Sensor::getRegister(uint8_t reg) return 0U; } - return _wire.read(); + return static_cast<uint8_t>(_wire.read()); } -SensorStatus Sensor::getStatus() +SensorStatus Sensor::getStatus() noexcept { SensorStatus status = _status; _status = SensorStatus::OK; @@ -333,7 +334,7 @@ SensorStatus Sensor::getStatus() return status; } -int16_t Sensor::_readHighLow() +int16_t Sensor::_readHighLow() noexcept { const int16_t high = _wire.read(); const int16_t low = _wire.read(); diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp index 7b76ae2..5bdf6ca 100644 --- a/src/sensor/sensor.hpp +++ b/src/sensor/sensor.hpp @@ -43,19 +43,19 @@ public: * * @returns Whether or not the sensor can be communicated with. */ - bool begin(); + bool begin() noexcept; /** * Returns whether or not the sensor is connected. */ - bool isConnected(); + bool isConnected() noexcept; /** * Reads from the sensor. * * @returns Whether or not it succeeded. */ - bool read(); + bool read() noexcept; /** * Sets the accelerometer sensitivity. @@ -63,7 +63,7 @@ public: * @param sensitivity Accelerometer sensitivity. 0, 1, 2, 3 => 2g 4g 8g 16g * @returns Whether or not it succeeded. */ - bool setAccelSensitivity(uint8_t sensitivity); + bool setAccelSensitivity(uint8_t sensitivity) noexcept; /** * Sets the gyro sensitivity. @@ -72,57 +72,57 @@ public: * 0, 1, 2, 3 => 250, 500, 1000, 2000 degrees/s * @returns Whether or not it succeeded. */ - bool setGyroSensitivity(uint8_t sensitivity); + bool setGyroSensitivity(uint8_t sensitivity) noexcept; /** * Returns the current X axis acceleration in g:s (g-force). */ - double getAccelX() const; + double getAccelX() const noexcept; /** * Returns the current Y axis acceleration in g:s (g-force). */ - double getAccelY() const; + double getAccelY() const noexcept; /** * Returns the current Z axis acceleration in g:s (g-force). */ - double getAccelZ() const; + double getAccelZ() const noexcept; /** * Returns the current X angle. */ - double getAngleX() const; + double getAngleX() const noexcept; /** * Returns the current Y angle. */ - double getAngleY() const; + double getAngleY() const noexcept; /** * Returns the current X axis in degrees/s. */ - double getGyroX() const; + double getGyroX() const noexcept; /** * Returns the current Y axis in degrees/s. */ - double getGyroY() const; + double getGyroY() const noexcept; /** * Returns the current Z axis in degrees/s. */ - double getGyroZ() const; + double getGyroZ() const noexcept; /** * Returns the current pitch angle. */ - double getPitch() const; + double getPitch() const noexcept; /** * Returns the current roll angle. */ - double getRoll() const; + double getRoll() const noexcept; /** * Sets the value of a key in the sensor's register. @@ -131,19 +131,19 @@ public: * @param value A new value * @returns Whether or not it succeeded. */ - bool setRegister(uint8_t reg, uint8_t value); + bool setRegister(uint8_t reg, uint8_t value) noexcept; /** * Returns the value of a key in the sensor's registry. * * @param reg The address of a registry key */ - uint8_t getRegister(uint8_t reg); + uint8_t getRegister(uint8_t reg) noexcept; /** * Returns the last sensor status. */ - SensorStatus getStatus(); + SensorStatus getStatus() noexcept; // Accelerometer calibration values double accel_cal_x = 0.0F; @@ -193,5 +193,5 @@ private: double _roll = 0; double _yaw = 0; - int16_t _readHighLow(); + int16_t _readHighLow() noexcept; }; |