Variable naming conventions

Modified member variable names to align with the WARG naming convention

Author: kelvinos2624

Drivers/imu/inc/icm42688.hpp

@@ -14,7 +14,7 @@
 
 class ICM42688 : public IMUDriver {
     public:
-        ICM42688(SPI_HandleTypeDef * SPI_HANDLE, GPIO_TypeDef * CS_GPIO_PORT, uint16_t CS_PIN);
+        ICM42688(SPI_HandleTypeDef * spi_handle, GPIO_TypeDef * cs_gpio_port, uint16_t cs_pin);
 
         /**
         * Sets up the IMU's initial starting conditions by setting 
@@ -95,21 +95,21 @@ class ICM42688 : public IMUDriver {
         void setGyroFS(uint8_t fssel);
 
         //Variables used in gyro calibration
-        float gyro_scale = 0;       //gyro scale factor
-        uint8_t current_fssel = 0;  //current full-scale selection for the gyro
-        uint8_t gyroFS = 0;
-        float gyroBD[3] = {0, 0, 0};
-        float gyrB[3] = {0, 0, 0};
-        float gyr[3] = {0, 0, 0};
-        uint8_t gyro_buffer[GYRO_CALIBRATION_DATA_BUFFER_SIZE];
-        int16_t raw_meas_gyro[RAW_MEAS_BUFFER_SIZE];
+        float gyroScale_ = 0;       //gyro scale factor
+        uint8_t currentFSSel_ = 0;  //current full-scale selection for the gyro
+        uint8_t gyroFS_ = 0;
+        float gyroBD_[3] = {0, 0, 0};
+        float gyrB_[3] = {0, 0, 0};
+        float gyr_[3] = {0, 0, 0};
+        uint8_t gyro_buffer_[GYRO_CALIBRATION_DATA_BUFFER_SIZE];
+        int16_t raw_meas_gyro_[RAW_MEAS_BUFFER_SIZE];
 
         //Used to hold raw IMU data
-        int16_t raw_meas[RAW_MEAS_BUFFER_SIZE];
+        int16_t raw_meas_[RAW_MEAS_BUFFER_SIZE];
 
-        SPI_HandleTypeDef * SPI_HANDLE;
-        GPIO_TypeDef * CS_GPIO_PORT;
-        uint16_t CS_PIN;
+        SPI_HandleTypeDef * spiHandle_;
+        GPIO_TypeDef * csGpioPort_;
+        uint16_t csPin_;
 };
 
 #endif //ICM42688_HPP

Drivers/imu/src/icm42688.cpp

@@ -35,9 +35,9 @@
 #define ACCEL_SENSITIVITY_16G 2048              //Currently in Primary Use
 
 ICM42688::ICM42688(SPI_HandleTypeDef * spi_handle, GPIO_TypeDef * cs_gpio_port, uint16_t cs_pin) {
-    SPI_HANDLE = spi_handle;
-    CS_GPIO_PORT = cs_gpio_port;
-    CS_PIN = cs_pin;
+    spiHandle_ = spi_handle;
+    csGpioPort_ = cs_gpio_port;
+    csPin_ = cs_pin;
 }
 
 void ICM42688::readRegister(uint8_t sub_address, uint8_t num_bytes_to_retrieve, uint8_t * destination) {
@@ -51,27 +51,27 @@ void ICM42688::readRegister(uint8_t sub_address, uint8_t num_bytes_to_retrieve,
     //Initialize values to 0
     memset(dummy_tx, 0, num_bytes_to_retrieve * sizeof(dummy_tx[0]));
 
-    HAL_GPIO_WritePin(CS_GPIO_PORT, CS_PIN, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(csGpioPort_, csPin_, GPIO_PIN_RESET);
 
-    HAL_SPI_TransmitReceive(SPI_HANDLE, &tx, &dummy_rx, 1, HAL_MAX_DELAY);
-    HAL_SPI_TransmitReceive(SPI_HANDLE, dummy_tx, destination, num_bytes_to_retrieve, HAL_MAX_DELAY);
+    HAL_SPI_TransmitReceive(spiHandle_, &tx, &dummy_rx, 1, HAL_MAX_DELAY);
+    HAL_SPI_TransmitReceive(spiHandle_, dummy_tx, destination, num_bytes_to_retrieve, HAL_MAX_DELAY);
 
-    HAL_GPIO_WritePin(CS_GPIO_PORT, CS_PIN, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(csGpioPort_, csPin_, GPIO_PIN_SET);
 }
 
 void ICM42688::writeRegister(uint8_t sub_address, uint8_t data_to_imu) {
     //Prepare transmit buffer
     uint8_t tx_buf[2] = {sub_address, data_to_imu};
 
-    HAL_GPIO_WritePin(CS_GPIO_PORT, CS_PIN, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(csGpioPort_, csPin_, GPIO_PIN_RESET);
 
-    HAL_SPI_Transmit(SPI_HANDLE, tx_buf, sizeof(tx_buf), HAL_MAX_DELAY);
+    HAL_SPI_Transmit(spiHandle_, tx_buf, sizeof(tx_buf), HAL_MAX_DELAY);
 
-    HAL_GPIO_WritePin(CS_GPIO_PORT, CS_PIN, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(csGpioPort_, csPin_, GPIO_PIN_SET);
 }
 
 void ICM42688::beginMeasuring() {
-    HAL_GPIO_WritePin(CS_GPIO_PORT, CS_PIN, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(csGpioPort_, csPin_, GPIO_PIN_SET);
     reset();
     setLowNoiseMode();
     calibrate();
@@ -104,51 +104,51 @@ void ICM42688::setGyroFS(uint8_t fssel) {
 
     writeRegister(0x4F, reg);
 
-    gyro_scale = (2000.0f / (float)(1 << fssel)) / 32768.0f;
-    gyroFS = fssel;
+    gyroScale_ = (2000.0f / (float)(1 << fssel)) / 32768.0f;
+    gyroFS_ = fssel;
 }
 
 void ICM42688::calibrate() {
     //Set at a lower range (more resolution since IMU not moving)
-    const uint8_t current_fssel = gyroFS;
+    const uint8_t currentFSSel_ = gyroFS_;
     setGyroFS(GYRO_SENSITIVITY_250DPS);        //Set to 250 dps
 
     //Take samples and find bias
-    gyroBD[0] = 0;
-    gyroBD[1] = 0;
-    gyroBD[2] = 0;
+    gyroBD_[0] = 0;
+    gyroBD_[1] = 0;
+    gyroBD_[2] = 0;
 
     for (size_t i = 0; i < NUM_GYRO_SAMPLES; i++) {
-        readRegister(UB0_REG_TEMP_DATA1, 14, gyro_buffer);
+        readRegister(UB0_REG_TEMP_DATA1, 14, gyro_buffer_);
 
         //Combine raw bytes into 16-bit values
         for (size_t j = 0; j < 7; j++) {
-            raw_meas_gyro[j] = ((int16_t)gyro_buffer[j * 2] << 8) | gyro_buffer[j * 2 + 1];
+            raw_meas_gyro_[j] = ((int16_t)gyro_buffer_[j * 2] << 8) | gyro_buffer_[j * 2 + 1];
         }
 
         //Process gyro data
         for (size_t k = 0; k < 3; k++) {
-            gyr[k] = (float)raw_meas_gyro[k + 3] / GYRO_SENSITIVITY_250DPS;
+            gyr_[k] = (float)raw_meas_gyro_[k + 3] / GYRO_SENSITIVITY_250DPS;
         }
 
         /*
         Calculate bias by collecting samples and considering pre-existing bias
         For each iteration, add the existing bias with the new bias and divide by the sample size
         to get an average bias over a specified number of gyro samples
         */
-        gyroBD[0] += (gyr[0] + gyrB[0]) / NUM_GYRO_SAMPLES;
-        gyroBD[1] += (gyr[1] + gyrB[1]) / NUM_GYRO_SAMPLES;
-        gyroBD[2] += (gyr[2] + gyrB[2]) / NUM_GYRO_SAMPLES;
+        gyroBD_[0] += (gyr_[0] + gyrB_[0]) / NUM_GYRO_SAMPLES;
+        gyroBD_[1] += (gyr_[1] + gyrB_[1]) / NUM_GYRO_SAMPLES;
+        gyroBD_[2] += (gyr_[2] + gyrB_[2]) / NUM_GYRO_SAMPLES;
 
         HAL_Delay(1);
     }
 
-    gyrB[0] = gyroBD[0];
-    gyrB[1] = gyroBD[1];
-    gyrB[2] = gyroBD[2];
+    gyrB_[0] = gyroBD_[0];
+    gyrB_[1] = gyroBD_[1];
+    gyrB_[2] = gyroBD_[2];
 
     //Recover the full scale setting
-    setGyroFS(current_fssel);
+    setGyroFS(currentFSSel_);
 }
 
 IMUData_t ICM42688::getResult(uint8_t * data_buffer) {
@@ -157,18 +157,18 @@ IMUData_t ICM42688::getResult(uint8_t * data_buffer) {
 
     //Formatting raw data
     for (size_t i = 0; i < 3; i++) {
-        raw_meas[i] = ((int16_t)data_buffer[i * 2] << 8) | data_buffer[i * 2 + 1];
+        raw_meas_[i] = ((int16_t)data_buffer[i * 2] << 8) | data_buffer[i * 2 + 1];
     }
 
     IMUData_t IMUData {};
 
-    IMUData.accx = (float)raw_meas[1] / ACCEL_SENSITIVITY_16G;
-    IMUData.accy = (float)raw_meas[2] / ACCEL_SENSITIVITY_16G;
-    IMUData.accz = (float)raw_meas[3] / ACCEL_SENSITIVITY_16G;
+    IMUData.accx = (float)raw_meas_[1] / ACCEL_SENSITIVITY_16G;
+    IMUData.accy = (float)raw_meas_[2] / ACCEL_SENSITIVITY_16G;
+    IMUData.accz = (float)raw_meas_[3] / ACCEL_SENSITIVITY_16G;
 
-    IMUData.gyrx = (float)raw_meas[4] / GYRO_SENSITIVITY_2000DPS;
-    IMUData.gyry = (float)raw_meas[5] / GYRO_SENSITIVITY_2000DPS;
-    IMUData.gyrz = (float)raw_meas[6] / GYRO_SENSITIVITY_2000DPS;
+    IMUData.gyrx = (float)raw_meas_[4] / GYRO_SENSITIVITY_2000DPS;
+    IMUData.gyry = (float)raw_meas_[5] / GYRO_SENSITIVITY_2000DPS;
+    IMUData.gyrz = (float)raw_meas_[6] / GYRO_SENSITIVITY_2000DPS;
 
     return IMUData;
 }