From 1ddf333a2c9610b6307f84d2910a041fa6dfda43 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Mon, 3 Jun 2024 14:00:58 -0800 Subject: [PATCH] format --- src/drivers/imu/murata/sch16t/SCH16T.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/drivers/imu/murata/sch16t/SCH16T.cpp b/src/drivers/imu/murata/sch16t/SCH16T.cpp index 5004aef54238..8b8f7d25a8d9 100644 --- a/src/drivers/imu/murata/sch16t/SCH16T.cpp +++ b/src/drivers/imu/murata/sch16t/SCH16T.cpp @@ -300,6 +300,7 @@ bool SCH16T::ReadData(SensorData *data) static constexpr uint64_t STATUS_DOING_INIT = 0b11; uint64_t values[] = { gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, temp }; + for (auto v : values) { // [1b ][1b][ 2b ] // [IDS][CE][S1:0] @@ -316,12 +317,15 @@ bool SCH16T::ReadData(SensorData *data) if (v & MASK48_GENERAL_ERROR) { perf_count(_perf_general_error); return false; + } else if (v & MASK48_COMMAND_ERROR) { perf_count(_perf_command_error); return false; + } else if ((v & MASK48_DOING_INIT) == STATUS_DOING_INIT) { perf_count(_perf_doing_initialization); return false; + } else if (v & MASK48_SATURATION_ERROR) { perf_count(_perf_saturation_error); // Don't consider saturation an error @@ -333,6 +337,7 @@ bool SCH16T::ReadData(SensorData *data) return false; } } + // Data registers are 20bit 2s complement data->acc_x = SPI48_DATA_INT32(acc_x); data->acc_y = SPI48_DATA_INT32(acc_y);