From da2ec747227ac1716326bd076219c7f7a2bb3887 Mon Sep 17 00:00:00 2001
From: HampusM <hampus@hampusmat.com>
Date: Mon, 7 Mar 2022 10:07:36 +0100
Subject: refactor: improve sensor methods

---
 src/sensor/sensor.cpp | 53 ++++++++++++++++++++++++++-------------------------
 1 file changed, 27 insertions(+), 26 deletions(-)

(limited to 'src/sensor/sensor.cpp')

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();
-- 
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