refactored initializer for AccelData, GyroData, MagData and calData

floBik · floBik · commit 351911391cb0 · 2024-06-27T13:06:00.000+02:00
diff --git a/src/F_AK8963.cpp b/src/F_AK8963.cpp
@@ -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;
@@ -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]);
-}
+}
diff --git a/src/F_AK8963.hpp b/src/F_AK8963.hpp
@@ -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;
@@ -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);}
 };
diff --git a/src/F_AK8975.cpp b/src/F_AK8975.cpp
@@ -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;
@@ -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]);
-}
+}
diff --git a/src/F_AK8975.hpp b/src/F_AK8975.hpp
@@ -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;
@@ -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()
 	{ 
diff --git a/src/F_BMI055.cpp b/src/F_BMI055.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_BMI055.hpp b/src/F_BMI055.hpp
@@ -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;
 
diff --git a/src/F_BMI160.cpp b/src/F_BMI160.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_BMI160.hpp b/src/F_BMI160.hpp
@@ -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;
diff --git a/src/F_BMX055.cpp b/src/F_BMX055.cpp
@@ -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;
diff --git a/src/F_BMX055.hpp b/src/F_BMX055.hpp
@@ -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;
 
diff --git a/src/F_HMC5883L.cpp b/src/F_HMC5883L.cpp
@@ -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;
@@ -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]);
-}
+}
diff --git a/src/F_HMC5883L.hpp b/src/F_HMC5883L.hpp
@@ -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;
diff --git a/src/F_ICM20689.cpp b/src/F_ICM20689.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_ICM20689.hpp b/src/F_ICM20689.hpp
@@ -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;
diff --git a/src/F_ICM20690.cpp b/src/F_ICM20690.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_ICM20690.hpp b/src/F_ICM20690.hpp
@@ -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;
diff --git a/src/F_IMU_Generic.cpp b/src/F_IMU_Generic.cpp
@@ -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;
@@ -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]);
-}
+}
diff --git a/src/F_IMU_Generic.hpp b/src/F_IMU_Generic.hpp
@@ -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;
@@ -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);}
 };
diff --git a/src/F_LSM6DS3.cpp b/src/F_LSM6DS3.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_LSM6DS3.hpp b/src/F_LSM6DS3.hpp
@@ -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;
diff --git a/src/F_LSM6DSL.cpp b/src/F_LSM6DSL.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_LSM6DSL.hpp b/src/F_LSM6DSL.hpp
@@ -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;
diff --git a/src/F_MPU6050.cpp b/src/F_MPU6050.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_MPU6050.hpp b/src/F_MPU6050.hpp
@@ -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;
diff --git a/src/F_MPU6500.cpp b/src/F_MPU6500.cpp
@@ -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
 	{
@@ -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;
-}
+}
diff --git a/src/F_MPU6500.hpp b/src/F_MPU6500.hpp
@@ -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;
diff --git a/src/F_MPU6515.cpp b/src/F_MPU6515.cpp
@@ -9,7 +9,7 @@ int MPU6515::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
 	{
@@ -325,4 +325,4 @@ void MPU6515::calibrateAccelGyro(calData* cal)
 	cal->gyroBias[1] = (float)gyro_bias[1] / (float)gyrosensitivity;
 	cal->gyroBias[2] = (float)gyro_bias[2] / (float)gyrosensitivity;
 	cal->valid = true;
-}
+}
diff --git a/src/F_MPU6515.hpp b/src/F_MPU6515.hpp
@@ -184,8 +184,8 @@ class MPU6515 : 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;
diff --git a/src/F_MPU6886.cpp b/src/F_MPU6886.cpp
diff --git a/src/F_MPU6886.hpp b/src/F_MPU6886.hpp
diff --git a/src/F_MPU9250.cpp b/src/F_MPU9250.cpp
diff --git a/src/F_MPU9250.hpp b/src/F_MPU9250.hpp
diff --git a/src/F_MPU9255.cpp b/src/F_MPU9255.cpp
diff --git a/src/F_MPU9255.hpp b/src/F_MPU9255.hpp
diff --git a/src/F_QMC5883L.cpp b/src/F_QMC5883L.cpp
diff --git a/src/F_QMC5883L.hpp b/src/F_QMC5883L.hpp
diff --git a/src/F_QMI8658.cpp b/src/F_QMI8658.cpp
diff --git a/src/F_QMI8658.hpp b/src/F_QMI8658.hpp
diff --git a/src/IMUBase.hpp b/src/IMUBase.hpp

Original file line number	Diff line number	Diff line change
`@@ -76,7 +76,7 @@ class AK8975 : public IMUBase {`
`76`	`76`
`77`	`77`	`int geometryIndex = 0;`
`78`	`78`	`float temperature = 0.f;`
`79`		`- MagData mag = { 0 };`
	`79`	`+ MagData mag = { 0, 0, 0 };`
`80`	`80`
`81`	`81`	`calData calibration;`
`82`	`82`	`uint8_t IMUAddress;`
`@@ -113,7 +113,7 @@ class AK8975 : public IMUBase {`
`113`	`113`	`} // Put read results in the Rx buffer`
`114`	`114`	`}`
`115`	`115`
`116`		`- float factoryMagCal[3] = { 0 };`
	`116`	`+ float factoryMagCal[3] = { 0, 0, 0 };`
`117`	`117`
`118`	`118`	`bool dataAvailable()`
`119`	`119`	`{`
Original file line number	Diff line number	Diff line change
`@@ -17,7 +17,7 @@ int BMI055::init(calData cal, uint8_t address)`
`17`	`17`
`18`	`18`	`if (cal.valid == false)`
`19`	`19`	`{`
`20`		`- calibration = { 0 };`
	`20`	`+ calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};`
`21`	`21`	`}`
`22`	`22`	`else`
`23`	`23`	`{`
`@@ -304,4 +304,4 @@ void BMI055::calibrateAccelGyro(calData* cal)`
`304`	`304`	`cal->gyroBias[1] = (float)gyro_bias[1];`
`305`	`305`	`cal->gyroBias[2] = (float)gyro_bias[2];`
`306`	`306`	`cal->valid = true;`
`307`		`-}`
	`307`	`+}`
Original file line number	Diff line number	Diff line change
`@@ -9,7 +9,7 @@ int BMI160::init(calData cal, uint8_t address)`
`9`	`9`
`10`	`10`	`if (cal.valid == false)`
`11`	`11`	`{`
`12`		`- calibration = { 0 };`
	`12`	`+ calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};`
`13`	`13`	`}`
`14`	`14`	`else`
`15`	`15`	`{`
`@@ -277,4 +277,4 @@ void BMI160::calibrateAccelGyro(calData* cal)`
`277`	`277`	`cal->gyroBias[1] = (float)gyro_bias[1];`
`278`	`278`	`cal->gyroBias[2] = (float)gyro_bias[2];`
`279`	`279`	`cal->valid = true;`
`280`		`-}`
	`280`	`+}`
Original file line number	Diff line number	Diff line change
`@@ -20,7 +20,7 @@ int BMX055::init(calData cal, uint8_t address)`
`20`	`20`
`21`	`21`	`if (cal.valid == false)`
`22`	`22`	`{`
`23`		`- calibration = { 0 };`
	`23`	`+ calibration = {0, {0,0,0},{0,0,0},{0,0,0},{0,0,0}};`
`24`	`24`	`calibration.magScale[0] = 1.f;`
`25`	`25`	`calibration.magScale[1] = 1.f;`
`26`	`26`	`calibration.magScale[2] = 1.f;`