clang'd

.github/workflows/githubci.yml

@@ -28,5 +28,5 @@ jobs:
     - name: doxygen
       env:
         GH_REPO_TOKEN: ${{ secrets.GH_REPO_TOKEN }}
-        PRETTYNAME : "Adafruit LSM9DS1 Library"
+        PRETTYNAME : "Adafruit LSM9DS0 Library"
       run: bash ci/doxy_gen_and_deploy.sh

Adafruit_LSM9DS0.cpp

@@ -9,7 +9,7 @@
   please support Adafruit andopen-source hardware by purchasing products
   from Adafruit!
 
-  Written by Kevin Townsend for Adafruit Industries.  
+  Written by Kevin Townsend for Adafruit Industries.
   BSD license, all text above must be included in any redistribution
  ***************************************************************************/
 #include <Adafruit_LSM9DS0.h>
@@ -18,30 +18,37 @@
  CONSTRUCTOR
  ***************************************************************************/
 
-void Adafruit_LSM9DS0::initI2C( TwoWire* wireBus, int32_t sensorID ) {
-    _i2c = true;
-    _wire = wireBus;
-    _lsm9dso_sensorid_accel = sensorID + 1;
-    _lsm9dso_sensorid_mag = sensorID + 2;
-    _lsm9dso_sensorid_gyro = sensorID + 3;
-    _lsm9dso_sensorid_temp = sensorID + 4;
-    _accelSensor = Sensor(this, &Adafruit_LSM9DS0::readAccel, &Adafruit_LSM9DS0::getAccelEvent, &Adafruit_LSM9DS0::getAccelSensor);
-    _magSensor   = Sensor(this, &Adafruit_LSM9DS0::readMag,   &Adafruit_LSM9DS0::getMagEvent,   &Adafruit_LSM9DS0::getMagSensor);
-    _gyroSensor  = Sensor(this, &Adafruit_LSM9DS0::readGyro,  &Adafruit_LSM9DS0::getGyroEvent,  &Adafruit_LSM9DS0::getGyroSensor);
-    _tempSensor  = Sensor(this, &Adafruit_LSM9DS0::readTemp,  &Adafruit_LSM9DS0::getTempEvent,  &Adafruit_LSM9DS0::getTempSensor);
+void Adafruit_LSM9DS0::initI2C(TwoWire *wireBus, int32_t sensorID) {
+  _i2c = true;
+  _wire = wireBus;
+  _lsm9dso_sensorid_accel = sensorID + 1;
+  _lsm9dso_sensorid_mag = sensorID + 2;
+  _lsm9dso_sensorid_gyro = sensorID + 3;
+  _lsm9dso_sensorid_temp = sensorID + 4;
+  _accelSensor = Sensor(this, &Adafruit_LSM9DS0::readAccel,
+                        &Adafruit_LSM9DS0::getAccelEvent,
+                        &Adafruit_LSM9DS0::getAccelSensor);
+  _magSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readMag, &Adafruit_LSM9DS0::getMagEvent,
+             &Adafruit_LSM9DS0::getMagSensor);
+  _gyroSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readGyro, &Adafruit_LSM9DS0::getGyroEvent,
+             &Adafruit_LSM9DS0::getGyroSensor);
+  _tempSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readTemp, &Adafruit_LSM9DS0::getTempEvent,
+             &Adafruit_LSM9DS0::getTempSensor);
 }
 
-
 // default
-Adafruit_LSM9DS0::Adafruit_LSM9DS0( int32_t sensorID ) {
-    initI2C(&Wire, sensorID);
+Adafruit_LSM9DS0::Adafruit_LSM9DS0(int32_t sensorID) {
+  initI2C(&Wire, sensorID);
 }
 
-Adafruit_LSM9DS0::Adafruit_LSM9DS0( TwoWire* wireBus, int32_t sensorID ) {
-    initI2C(wireBus, sensorID);
+Adafruit_LSM9DS0::Adafruit_LSM9DS0(TwoWire *wireBus, int32_t sensorID) {
+  initI2C(wireBus, sensorID);
 }
 
-Adafruit_LSM9DS0::Adafruit_LSM9DS0(int8_t xmcs, int8_t gcs, int32_t sensorID ) {
+Adafruit_LSM9DS0::Adafruit_LSM9DS0(int8_t xmcs, int8_t gcs, int32_t sensorID) {
   _i2c = false;
   // hardware SPI!
   _csg = gcs;
@@ -51,13 +58,22 @@ Adafruit_LSM9DS0::Adafruit_LSM9DS0(int8_t xmcs, int8_t gcs, int32_t sensorID ) {
   _lsm9dso_sensorid_mag = sensorID + 2;
   _lsm9dso_sensorid_gyro = sensorID + 3;
   _lsm9dso_sensorid_temp = sensorID + 4;
-  _accelSensor = Sensor(this, &Adafruit_LSM9DS0::readAccel, &Adafruit_LSM9DS0::getAccelEvent, &Adafruit_LSM9DS0::getAccelSensor);
-  _magSensor   = Sensor(this, &Adafruit_LSM9DS0::readMag,   &Adafruit_LSM9DS0::getMagEvent,   &Adafruit_LSM9DS0::getMagSensor);
-  _gyroSensor  = Sensor(this, &Adafruit_LSM9DS0::readGyro,  &Adafruit_LSM9DS0::getGyroEvent,  &Adafruit_LSM9DS0::getGyroSensor);
-  _tempSensor  = Sensor(this, &Adafruit_LSM9DS0::readTemp,  &Adafruit_LSM9DS0::getTempEvent,  &Adafruit_LSM9DS0::getTempSensor);
+  _accelSensor = Sensor(this, &Adafruit_LSM9DS0::readAccel,
+                        &Adafruit_LSM9DS0::getAccelEvent,
+                        &Adafruit_LSM9DS0::getAccelSensor);
+  _magSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readMag, &Adafruit_LSM9DS0::getMagEvent,
+             &Adafruit_LSM9DS0::getMagSensor);
+  _gyroSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readGyro, &Adafruit_LSM9DS0::getGyroEvent,
+             &Adafruit_LSM9DS0::getGyroSensor);
+  _tempSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readTemp, &Adafruit_LSM9DS0::getTempEvent,
+             &Adafruit_LSM9DS0::getTempSensor);
 }
 
-Adafruit_LSM9DS0::Adafruit_LSM9DS0(int8_t clk, int8_t miso, int8_t mosi, int8_t xmcs, int8_t gcs, int32_t sensorID ) {
+Adafruit_LSM9DS0::Adafruit_LSM9DS0(int8_t clk, int8_t miso, int8_t mosi,
+                                   int8_t xmcs, int8_t gcs, int32_t sensorID) {
   _i2c = false;
   // software SPI!
   _csg = gcs;
@@ -69,14 +85,21 @@ Adafruit_LSM9DS0::Adafruit_LSM9DS0(int8_t clk, int8_t miso, int8_t mosi, int8_t
   _lsm9dso_sensorid_mag = sensorID + 2;
   _lsm9dso_sensorid_gyro = sensorID + 3;
   _lsm9dso_sensorid_temp = sensorID + 4;
-  _accelSensor = Sensor(this, &Adafruit_LSM9DS0::readAccel, &Adafruit_LSM9DS0::getAccelEvent, &Adafruit_LSM9DS0::getAccelSensor);
-  _magSensor   = Sensor(this, &Adafruit_LSM9DS0::readMag,   &Adafruit_LSM9DS0::getMagEvent,   &Adafruit_LSM9DS0::getMagSensor);
-  _gyroSensor  = Sensor(this, &Adafruit_LSM9DS0::readGyro,  &Adafruit_LSM9DS0::getGyroEvent,  &Adafruit_LSM9DS0::getGyroSensor);
-  _tempSensor  = Sensor(this, &Adafruit_LSM9DS0::readTemp,  &Adafruit_LSM9DS0::getTempEvent,  &Adafruit_LSM9DS0::getTempSensor);
+  _accelSensor = Sensor(this, &Adafruit_LSM9DS0::readAccel,
+                        &Adafruit_LSM9DS0::getAccelEvent,
+                        &Adafruit_LSM9DS0::getAccelSensor);
+  _magSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readMag, &Adafruit_LSM9DS0::getMagEvent,
+             &Adafruit_LSM9DS0::getMagSensor);
+  _gyroSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readGyro, &Adafruit_LSM9DS0::getGyroEvent,
+             &Adafruit_LSM9DS0::getGyroSensor);
+  _tempSensor =
+      Sensor(this, &Adafruit_LSM9DS0::readTemp, &Adafruit_LSM9DS0::getTempEvent,
+             &Adafruit_LSM9DS0::getTempSensor);
 }
 
-bool Adafruit_LSM9DS0::begin()
-{
+bool Adafruit_LSM9DS0::begin() {
   if (_i2c) {
     _wire->begin();
   } else if (_clk == -1) {
@@ -98,14 +121,14 @@ bool Adafruit_LSM9DS0::begin()
   }
 
   uint8_t id = read8(XMTYPE, LSM9DS0_REGISTER_WHO_AM_I_XM);
-//  Serial.print ("XM whoami: 0x");
-//   Serial.println(id, HEX);
+  //  Serial.print ("XM whoami: 0x");
+  //   Serial.println(id, HEX);
   if (id != LSM9DS0_XM_ID)
     return false;
 
   id = read8(GYROTYPE, LSM9DS0_REGISTER_WHO_AM_I_G);
-//   Serial.print ("G whoami: 0x");
-//   Serial.println(id, HEX);
+  //   Serial.print ("G whoami: 0x");
+  //   Serial.println(id, HEX);
   if (id != LSM9DS0_G_ID)
     return false;
 
@@ -118,17 +141,17 @@ bool Adafruit_LSM9DS0::begin()
   write8(GYROTYPE, LSM9DS0_REGISTER_CTRL_REG1_G, 0x0F); // on XYZ
   // enable the temperature sensor (output rate same as the mag sensor)
   uint8_t tempReg = read8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG5_XM);
-  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG5_XM, tempReg | (1<<7));
-  
+  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG5_XM, tempReg | (1 << 7));
+
   /*
   for (uint8_t i=0; i<0x30; i++) {
     Serial.print("$"); Serial.print(i, HEX);
-    Serial.print(" = 0x"); 
+    Serial.print(" = 0x");
     Serial.println(read8(XMTYPE, i), HEX);
   }
   */
 
-  // Set default ranges for the various sensors  
+  // Set default ranges for the various sensors
   setupAccel(LSM9DS0_ACCELRANGE_2G);
   setupMag(LSM9DS0_MAGGAIN_2GAUSS);
   setupGyro(LSM9DS0_GYROSCALE_245DPS);
@@ -139,8 +162,7 @@ bool Adafruit_LSM9DS0::begin()
 /***************************************************************************
  PUBLIC FUNCTIONS
  ***************************************************************************/
-void Adafruit_LSM9DS0::read()
-{
+void Adafruit_LSM9DS0::read() {
   /* Read all the sensors. */
   readAccel();
   readMag();
@@ -151,21 +173,22 @@ void Adafruit_LSM9DS0::read()
 void Adafruit_LSM9DS0::readAccel() {
   // Read the accelerometer
   byte buffer[6];
-  readBuffer(XMTYPE, 
-       0x80 | LSM9DS0_REGISTER_OUT_X_L_A, 
-       6, buffer);
-  
+  readBuffer(XMTYPE, 0x80 | LSM9DS0_REGISTER_OUT_X_L_A, 6, buffer);
+
   uint8_t xlo = buffer[0];
   int16_t xhi = buffer[1];
   uint8_t ylo = buffer[2];
   int16_t yhi = buffer[3];
   uint8_t zlo = buffer[4];
   int16_t zhi = buffer[5];
-  
+
   // Shift values to create properly formed integer (low byte first)
-  xhi <<= 8; xhi |= xlo;
-  yhi <<= 8; yhi |= ylo;
-  zhi <<= 8; zhi |= zlo;
+  xhi <<= 8;
+  xhi |= xlo;
+  yhi <<= 8;
+  yhi |= ylo;
+  zhi <<= 8;
+  zhi |= zlo;
   accelData.x = xhi;
   accelData.y = yhi;
   accelData.z = zhi;
@@ -174,21 +197,22 @@ void Adafruit_LSM9DS0::readAccel() {
 void Adafruit_LSM9DS0::readMag() {
   // Read the magnetometer
   byte buffer[6];
-  readBuffer(XMTYPE, 
-       0x80 | LSM9DS0_REGISTER_OUT_X_L_M, 
-       6, buffer);
-  
+  readBuffer(XMTYPE, 0x80 | LSM9DS0_REGISTER_OUT_X_L_M, 6, buffer);
+
   uint8_t xlo = buffer[0];
   int16_t xhi = buffer[1];
   uint8_t ylo = buffer[2];
   int16_t yhi = buffer[3];
   uint8_t zlo = buffer[4];
   int16_t zhi = buffer[5];
-  
+
   // Shift values to create properly formed integer (low byte first)
-  xhi <<= 8; xhi |= xlo;
-  yhi <<= 8; yhi |= ylo;
-  zhi <<= 8; zhi |= zlo;
+  xhi <<= 8;
+  xhi |= xlo;
+  yhi <<= 8;
+  yhi |= ylo;
+  zhi <<= 8;
+  zhi |= zlo;
   magData.x = xhi;
   magData.y = yhi;
   magData.z = zhi;
@@ -197,22 +221,23 @@ void Adafruit_LSM9DS0::readMag() {
 void Adafruit_LSM9DS0::readGyro() {
   // Read gyro
   byte buffer[6];
-  readBuffer(GYROTYPE, 
-       0x80 | LSM9DS0_REGISTER_OUT_X_L_G, 
-       6, buffer);
-  
+  readBuffer(GYROTYPE, 0x80 | LSM9DS0_REGISTER_OUT_X_L_G, 6, buffer);
+
   uint8_t xlo = buffer[0];
   int16_t xhi = buffer[1];
   uint8_t ylo = buffer[2];
   int16_t yhi = buffer[3];
   uint8_t zlo = buffer[4];
   int16_t zhi = buffer[5];
-  
+
   // Shift values to create properly formed integer (low byte first)
-  xhi <<= 8; xhi |= xlo;
-  yhi <<= 8; yhi |= ylo;
-  zhi <<= 8; zhi |= zlo;
-  
+  xhi <<= 8;
+  xhi |= xlo;
+  yhi <<= 8;
+  yhi |= ylo;
+  zhi <<= 8;
+  zhi |= zlo;
+
   gyroData.x = xhi;
   gyroData.y = yhi;
   gyroData.z = zhi;
@@ -221,87 +246,80 @@ void Adafruit_LSM9DS0::readGyro() {
 void Adafruit_LSM9DS0::readTemp() {
   // Read temp sensor
   byte buffer[2];
-  readBuffer(XMTYPE, 
-       0x80 | LSM9DS0_REGISTER_TEMP_OUT_L_XM, 
-       2, buffer);
+  readBuffer(XMTYPE, 0x80 | LSM9DS0_REGISTER_TEMP_OUT_L_XM, 2, buffer);
   uint8_t xlo = buffer[0];
   int16_t xhi = buffer[1];
 
-  xhi <<= 8; xhi |= xlo;
-  
+  xhi <<= 8;
+  xhi |= xlo;
+
   // Shift values to create properly formed integer (low byte first)
   temperature = xhi;
 }
 
-void Adafruit_LSM9DS0::setupAccel ( lsm9ds0AccelRange_t range )
-{
+void Adafruit_LSM9DS0::setupAccel(lsm9ds0AccelRange_t range) {
   uint8_t reg = read8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG2_XM);
   reg &= ~(0b00111000);
   reg |= range;
-  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG2_XM, reg );
-  
-  switch (range)
-  {
-    case LSM9DS0_ACCELRANGE_2G:
-      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_2G;
-      break;
-    case LSM9DS0_ACCELRANGE_4G:
-      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_4G;
-      break;
-    case LSM9DS0_ACCELRANGE_6G:
-      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_6G;
-      break;
-    case LSM9DS0_ACCELRANGE_8G:
-      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_8G;
-      break;    
-    case LSM9DS0_ACCELRANGE_16G:
-      _accel_mg_lsb =LSM9DS0_ACCEL_MG_LSB_16G;
-      break;
+  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG2_XM, reg);
+
+  switch (range) {
+  case LSM9DS0_ACCELRANGE_2G:
+    _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_2G;
+    break;
+  case LSM9DS0_ACCELRANGE_4G:
+    _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_4G;
+    break;
+  case LSM9DS0_ACCELRANGE_6G:
+    _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_6G;
+    break;
+  case LSM9DS0_ACCELRANGE_8G:
+    _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_8G;
+    break;
+  case LSM9DS0_ACCELRANGE_16G:
+    _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_16G;
+    break;
   }
 }
 
-void Adafruit_LSM9DS0::setupMag ( lsm9ds0MagGain_t gain )
-{
+void Adafruit_LSM9DS0::setupMag(lsm9ds0MagGain_t gain) {
   uint8_t reg = read8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG6_XM);
   reg &= ~(0b01100000);
   reg |= gain;
-  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG6_XM, reg );
-
-  switch(gain)
-  {
-    case LSM9DS0_MAGGAIN_2GAUSS:
-      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_2GAUSS;
-      break;
-    case LSM9DS0_MAGGAIN_4GAUSS:
-      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_4GAUSS;
-      break;
-    case LSM9DS0_MAGGAIN_8GAUSS:
-      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_8GAUSS;
-      break;
-    case LSM9DS0_MAGGAIN_12GAUSS:
-      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_12GAUSS;
-      break;
+  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG6_XM, reg);
+
+  switch (gain) {
+  case LSM9DS0_MAGGAIN_2GAUSS:
+    _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_2GAUSS;
+    break;
+  case LSM9DS0_MAGGAIN_4GAUSS:
+    _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_4GAUSS;
+    break;
+  case LSM9DS0_MAGGAIN_8GAUSS:
+    _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_8GAUSS;
+    break;
+  case LSM9DS0_MAGGAIN_12GAUSS:
+    _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_12GAUSS;
+    break;
   }
 }
 
-void Adafruit_LSM9DS0::setupGyro ( lsm9ds0GyroScale_t scale )
-{
+void Adafruit_LSM9DS0::setupGyro(lsm9ds0GyroScale_t scale) {
   uint8_t reg = read8(GYROTYPE, LSM9DS0_REGISTER_CTRL_REG4_G);
   reg &= ~(0b00110000);
   reg |= scale;
-  write8(GYROTYPE, LSM9DS0_REGISTER_CTRL_REG4_G, reg );
-
-  switch(scale)
-  {
-    case LSM9DS0_GYROSCALE_245DPS:
-      _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_245DPS;
-      break;
-    case LSM9DS0_GYROSCALE_500DPS:
-      _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_500DPS;
-      break;
-    case LSM9DS0_GYROSCALE_2000DPS:
-      _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_2000DPS;
-      break;
+  write8(GYROTYPE, LSM9DS0_REGISTER_CTRL_REG4_G, reg);
+
+  switch (scale) {
+  case LSM9DS0_GYROSCALE_245DPS:
+    _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_245DPS;
+    break;
+  case LSM9DS0_GYROSCALE_500DPS:
+    _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_500DPS;
+    break;
+  case LSM9DS0_GYROSCALE_2000DPS:
+    _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_2000DPS;
+    break;
   }
 }
 
@@ -317,18 +335,21 @@ void Adafruit_LSM9DS0::setupGyro ( lsm9ds0GyroScale_t scale )
 bool Adafruit_LSM9DS0::getEvent(sensors_event_t *accelEvent,
                                 sensors_event_t *magEvent,
                                 sensors_event_t *gyroEvent,
-                                sensors_event_t *tempEvent )
-{
+                                sensors_event_t *tempEvent) {
   /* Grab new sensor reading and timestamp. */
   read();
   uint32_t timestamp = millis();
 
   /* Update appropriate sensor events. */
-  if (accelEvent) getAccelEvent(accelEvent, timestamp);
-  if (magEvent)   getMagEvent(magEvent, timestamp);
-  if (gyroEvent)  getGyroEvent(gyroEvent, timestamp);
-  if (tempEvent)  getTempEvent(tempEvent, timestamp);
-  
+  if (accelEvent)
+    getAccelEvent(accelEvent, timestamp);
+  if (magEvent)
+    getMagEvent(magEvent, timestamp);
+  if (gyroEvent)
+    getGyroEvent(gyroEvent, timestamp);
+  if (tempEvent)
+    getTempEvent(tempEvent, timestamp);
+
   return true;
 }
 
@@ -337,21 +358,23 @@ bool Adafruit_LSM9DS0::getEvent(sensors_event_t *accelEvent,
     @brief  Gets the sensor_t data
 */
 /**************************************************************************/
-void Adafruit_LSM9DS0::getSensor(sensor_t *accel, sensor_t *mag,
-                                 sensor_t *gyro, sensor_t *temp )
-{
+void Adafruit_LSM9DS0::getSensor(sensor_t *accel, sensor_t *mag, sensor_t *gyro,
+                                 sensor_t *temp) {
   /* Update appropriate sensor metadata. */
-  if (accel) getAccelSensor(accel);
-  if (mag)   getMagSensor(mag);
-  if (gyro)  getGyroSensor(gyro);
-  if (temp)  getTempSensor(temp);
+  if (accel)
+    getAccelSensor(accel);
+  if (mag)
+    getMagSensor(mag);
+  if (gyro)
+    getGyroSensor(gyro);
+  if (temp)
+    getTempSensor(temp);
 }
 
 /***************************************************************************
  PRIVATE FUNCTIONS
  ***************************************************************************/
-void Adafruit_LSM9DS0::write8(boolean type, byte reg, byte value)
-{
+void Adafruit_LSM9DS0::write8(boolean type, byte reg, byte value) {
   byte address, _cs;
 
   if (type == GYROTYPE) {
@@ -371,15 +394,13 @@ void Adafruit_LSM9DS0::write8(boolean type, byte reg, byte value)
     digitalWrite(_cs, LOW);
     // set address
     spixfer(reg | 0x40); // write multiple
-    spixfer(value); 
+    spixfer(value);
     digitalWrite(_cs, HIGH);
     SPI.endTransaction();
-
   }
 }
 
-byte Adafruit_LSM9DS0::read8(boolean type, byte reg)
-{
+byte Adafruit_LSM9DS0::read8(boolean type, byte reg) {
   uint8_t value;
 
   readBuffer(type, reg, 1, &value);
@@ -387,8 +408,8 @@ byte Adafruit_LSM9DS0::read8(boolean type, byte reg)
   return value;
 }
 
-byte Adafruit_LSM9DS0::readBuffer(boolean type, byte reg, byte len, uint8_t *buffer)
-{
+byte Adafruit_LSM9DS0::readBuffer(boolean type, byte reg, byte len,
+                                  uint8_t *buffer) {
   byte address, _cs;
 
   if (type == GYROTYPE) {
@@ -398,20 +419,21 @@ byte Adafruit_LSM9DS0::readBuffer(boolean type, byte reg, byte len, uint8_t *buf
     address = LSM9DS0_ADDRESS_ACCELMAG;
     _cs = _csxm;
   }
-    
-    
 
   if (_i2c) {
 #ifdef __SAM3X8E__
-      _wire->requestFrom(address, len, reg, 1, true); //see http://forum.arduino.cc/index.php?topic=385377.msg2947227#msg2947227
+    _wire->requestFrom(
+        address, len, reg, 1,
+        true); // see
+               // http://forum.arduino.cc/index.php?topic=385377.msg2947227#msg2947227
 #else
-      _wire->beginTransmission(address);
-      _wire->write(reg);
-      _wire->endTransmission();
-      _wire->requestFrom(address, (byte)len);
+    _wire->beginTransmission(address);
+    _wire->write(reg);
+    _wire->endTransmission();
+    _wire->requestFrom(address, (byte)len);
 #endif
 
-    for (uint8_t i=0; i<len; i++) {
+    for (uint8_t i = 0; i < len; i++) {
       buffer[i] = _wire->read();
     }
   } else {
@@ -419,12 +441,11 @@ byte Adafruit_LSM9DS0::readBuffer(boolean type, byte reg, byte len, uint8_t *buf
     digitalWrite(_cs, LOW);
     // set address
     spixfer(reg | 0x80 | 0x40); // read multiple
-    for (uint8_t i=0; i<len; i++) {
+    for (uint8_t i = 0; i < len; i++) {
       buffer[i] = spixfer(0);
     }
     digitalWrite(_cs, HIGH);
     SPI.endTransaction();
-
   }
 
   return len;
@@ -433,27 +454,29 @@ byte Adafruit_LSM9DS0::readBuffer(boolean type, byte reg, byte len, uint8_t *buf
 uint8_t Adafruit_LSM9DS0::spixfer(uint8_t data) {
 
   if (_clk == -1) {
-      //Serial.println("Hardware SPI");
-      return SPI.transfer(data);
+    // Serial.println("Hardware SPI");
+    return SPI.transfer(data);
   } else {
-    //Serial.println("Software SPI");
-      uint8_t reply = 0;    for (int i=7; i>=0; i--) {
+    // Serial.println("Software SPI");
+    uint8_t reply = 0;
+    for (int i = 7; i >= 0; i--) {
       reply <<= 1;
       digitalWrite(_clk, LOW);
-      digitalWrite(_mosi, data & (1<<i));
+      digitalWrite(_mosi, data & (1 << i));
       digitalWrite(_clk, HIGH);
-      if (digitalRead(_miso)) 
-          reply |= 1;
+      if (digitalRead(_miso))
+        reply |= 1;
     }
     return reply;
   }
 }
 
-void Adafruit_LSM9DS0::getAccelEvent(sensors_event_t* event, uint32_t timestamp) {
+void Adafruit_LSM9DS0::getAccelEvent(sensors_event_t *event,
+                                     uint32_t timestamp) {
   memset(event, 0, sizeof(sensors_event_t));
-  event->version   = sizeof(sensors_event_t);
+  event->version = sizeof(sensors_event_t);
   event->sensor_id = _lsm9dso_sensorid_accel;
-  event->type      = SENSOR_TYPE_ACCELEROMETER;
+  event->type = SENSOR_TYPE_ACCELEROMETER;
   event->timestamp = timestamp;
   event->acceleration.x = accelData.x * _accel_mg_lsb;
   event->acceleration.x /= 1000;
@@ -466,11 +489,11 @@ void Adafruit_LSM9DS0::getAccelEvent(sensors_event_t* event, uint32_t timestamp)
   event->acceleration.z *= SENSORS_GRAVITY_STANDARD;
 }
 
-void Adafruit_LSM9DS0::getMagEvent(sensors_event_t* event, uint32_t timestamp) {
+void Adafruit_LSM9DS0::getMagEvent(sensors_event_t *event, uint32_t timestamp) {
   memset(event, 0, sizeof(sensors_event_t));
-  event->version   = sizeof(sensors_event_t);
+  event->version = sizeof(sensors_event_t);
   event->sensor_id = _lsm9dso_sensorid_mag;
-  event->type      = SENSOR_TYPE_MAGNETIC_FIELD;
+  event->type = SENSOR_TYPE_MAGNETIC_FIELD;
   event->timestamp = timestamp;
   event->magnetic.x = magData.x * _mag_mgauss_lsb;
   event->magnetic.x /= 1000;
@@ -480,76 +503,78 @@ void Adafruit_LSM9DS0::getMagEvent(sensors_event_t* event, uint32_t timestamp) {
   event->magnetic.z /= 1000;
 }
 
-void Adafruit_LSM9DS0::getGyroEvent(sensors_event_t* event, uint32_t timestamp) {
+void Adafruit_LSM9DS0::getGyroEvent(sensors_event_t *event,
+                                    uint32_t timestamp) {
   memset(event, 0, sizeof(sensors_event_t));
-  event->version   = sizeof(sensors_event_t);
+  event->version = sizeof(sensors_event_t);
   event->sensor_id = _lsm9dso_sensorid_accel;
-  event->type      = SENSOR_TYPE_GYROSCOPE;
+  event->type = SENSOR_TYPE_GYROSCOPE;
   event->timestamp = timestamp;
   event->gyro.x = gyroData.x * _gyro_dps_digit * SENSORS_DPS_TO_RADS;
   event->gyro.y = gyroData.y * _gyro_dps_digit * SENSORS_DPS_TO_RADS;
   event->gyro.z = gyroData.z * _gyro_dps_digit * SENSORS_DPS_TO_RADS;
 }
 
-void Adafruit_LSM9DS0::getTempEvent(sensors_event_t* event, uint32_t timestamp) {
+void Adafruit_LSM9DS0::getTempEvent(sensors_event_t *event,
+                                    uint32_t timestamp) {
   memset(event, 0, sizeof(sensors_event_t));
-  event->version   = sizeof(sensors_event_t);
+  event->version = sizeof(sensors_event_t);
   event->sensor_id = _lsm9dso_sensorid_temp;
-  event->type      = SENSOR_TYPE_AMBIENT_TEMPERATURE;
+  event->type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
   event->timestamp = timestamp;
   // This is just a guess since the staring point (21C here) isn't documented :(
-  event->temperature = 21.0 + (float)temperature/8;
-  //event->temperature /= LSM9DS0_TEMP_LSB_DEGREE_CELSIUS;
+  event->temperature = 21.0 + (float)temperature / 8;
+  // event->temperature /= LSM9DS0_TEMP_LSB_DEGREE_CELSIUS;
 }
 
-void Adafruit_LSM9DS0::getAccelSensor(sensor_t* sensor) {
+void Adafruit_LSM9DS0::getAccelSensor(sensor_t *sensor) {
   memset(sensor, 0, sizeof(sensor_t));
-  strncpy (sensor->name, "LSM9DS0_A", sizeof(sensor->name) - 1);
-  sensor->name[sizeof(sensor->name)- 1] = 0;
-  sensor->version     = 1;
-  sensor->sensor_id   = _lsm9dso_sensorid_accel;
-  sensor->type        = SENSOR_TYPE_ACCELEROMETER;
-  sensor->min_delay   = 0;
-  sensor->max_value   = 0.0;  // ToDo
-  sensor->min_value   = 0.0;  // ToDo
-  sensor->resolution  = 0.0;  // ToDo
+  strncpy(sensor->name, "LSM9DS0_A", sizeof(sensor->name) - 1);
+  sensor->name[sizeof(sensor->name) - 1] = 0;
+  sensor->version = 1;
+  sensor->sensor_id = _lsm9dso_sensorid_accel;
+  sensor->type = SENSOR_TYPE_ACCELEROMETER;
+  sensor->min_delay = 0;
+  sensor->max_value = 0.0;  // ToDo
+  sensor->min_value = 0.0;  // ToDo
+  sensor->resolution = 0.0; // ToDo
 }
 
-void Adafruit_LSM9DS0::getMagSensor(sensor_t* sensor) {
+void Adafruit_LSM9DS0::getMagSensor(sensor_t *sensor) {
   memset(sensor, 0, sizeof(sensor_t));
-  strncpy (sensor->name, "LSM9DS0_M", sizeof(sensor->name) - 1);
-  sensor->name[sizeof(sensor->name)- 1] = 0;
-  sensor->version     = 1;
-  sensor->sensor_id   = _lsm9dso_sensorid_mag;
-  sensor->type        = SENSOR_TYPE_MAGNETIC_FIELD;
-  sensor->min_delay   = 0;
-  sensor->max_value   = 0.0;  // ToDo
-  sensor->min_value   = 0.0;  // ToDo
-  sensor->resolution  = 0.0;  // ToDo
+  strncpy(sensor->name, "LSM9DS0_M", sizeof(sensor->name) - 1);
+  sensor->name[sizeof(sensor->name) - 1] = 0;
+  sensor->version = 1;
+  sensor->sensor_id = _lsm9dso_sensorid_mag;
+  sensor->type = SENSOR_TYPE_MAGNETIC_FIELD;
+  sensor->min_delay = 0;
+  sensor->max_value = 0.0;  // ToDo
+  sensor->min_value = 0.0;  // ToDo
+  sensor->resolution = 0.0; // ToDo
 }
 
-void Adafruit_LSM9DS0::getGyroSensor(sensor_t* sensor) {
+void Adafruit_LSM9DS0::getGyroSensor(sensor_t *sensor) {
   memset(sensor, 0, sizeof(sensor_t));
-  strncpy (sensor->name, "LSM9DS0_G", sizeof(sensor->name) - 1);
-  sensor->name[sizeof(sensor->name)- 1] = 0;
-  sensor->version     = 1;
-  sensor->sensor_id   = _lsm9dso_sensorid_gyro;
-  sensor->type        = SENSOR_TYPE_GYROSCOPE;
-  sensor->min_delay   = 0;
-  sensor->max_value   = 0.0;  // ToDo
-  sensor->min_value   = 0.0;  // ToDo
-  sensor->resolution  = 0.0;  // ToDo
+  strncpy(sensor->name, "LSM9DS0_G", sizeof(sensor->name) - 1);
+  sensor->name[sizeof(sensor->name) - 1] = 0;
+  sensor->version = 1;
+  sensor->sensor_id = _lsm9dso_sensorid_gyro;
+  sensor->type = SENSOR_TYPE_GYROSCOPE;
+  sensor->min_delay = 0;
+  sensor->max_value = 0.0;  // ToDo
+  sensor->min_value = 0.0;  // ToDo
+  sensor->resolution = 0.0; // ToDo
 }
 
-void Adafruit_LSM9DS0::getTempSensor(sensor_t* sensor) {
+void Adafruit_LSM9DS0::getTempSensor(sensor_t *sensor) {
   memset(sensor, 0, sizeof(sensor_t));
-  strncpy (sensor->name, "LSM9DS0_T", sizeof(sensor->name) - 1);
-  sensor->name[sizeof(sensor->name)- 1] = 0;
-  sensor->version     = 1;
-  sensor->sensor_id   = _lsm9dso_sensorid_temp;
-  sensor->type        = SENSOR_TYPE_AMBIENT_TEMPERATURE;
-  sensor->min_delay   = 0;
-  sensor->max_value   = 0.0;  // ToDo
-  sensor->min_value   = 0.0;  // ToDo
-  sensor->resolution  = 0.0;  // ToDo
+  strncpy(sensor->name, "LSM9DS0_T", sizeof(sensor->name) - 1);
+  sensor->name[sizeof(sensor->name) - 1] = 0;
+  sensor->version = 1;
+  sensor->sensor_id = _lsm9dso_sensorid_temp;
+  sensor->type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
+  sensor->min_delay = 0;
+  sensor->max_value = 0.0;  // ToDo
+  sensor->min_value = 0.0;  // ToDo
+  sensor->resolution = 0.0; // ToDo
 }

Adafruit_LSM9DS0.h

@@ -210,11 +210,11 @@ public:
         : _parent(parent), _readFunc(readFunc), _eventFunc(eventFunc),
           _sensorFunc(sensorFunc) {}
     virtual bool getEvent(sensors_event_t *event) {
-        /* Take new reading. */
-        (_parent->*_readFunc)();
-        /* Fill in event data. */
-        (_parent->*_eventFunc)(event, millis());
-        return true;
+      /* Take new reading. */
+      (_parent->*_readFunc)();
+      /* Fill in event data. */
+      (_parent->*_eventFunc)(event, millis());
+      return true;
     }
     virtual void getSensor(sensor_t *sensor) {
       /* Fill in sensor metadata. */