From ac1479739d5479c895e8299381395195cf64fe5d Mon Sep 17 00:00:00 2001
From: Lars Wilko Sentse <lars.wilko.sentse@rwth-aachen.de>
Date: Wed, 3 Jul 2024 16:40:03 +0200
Subject: [PATCH] driver cleanup

---
 include/sta/drivers/bmi088.hpp | 57 ++++++++++++++++++----------------
 src/bmi088.cpp                 | 28 ++++++++---------
 2 files changed, 44 insertions(+), 41 deletions(-)

diff --git a/include/sta/drivers/bmi088.hpp b/include/sta/drivers/bmi088.hpp
index a426b1c..80e486b 100644
--- a/include/sta/drivers/bmi088.hpp
+++ b/include/sta/drivers/bmi088.hpp
@@ -1,7 +1,10 @@
 #ifndef STA_DRIVERS_BMI088_HPP
 #define STA_DRIVERS_BMI088_HPP
 
-#include <sta/devices/stm32/bus/spi.hpp>
+//#include <sta/devices/stm32/bus/spi.hpp>
+//#include <sta/devices/stm32/bus/i2c.hpp>
+#include <sta/bus/spi/device.hpp>
+#include <sta/bus/i2c/device.hpp>
 
 #include <sta/drivers/bmi088_defs.hpp>
 
@@ -18,22 +21,22 @@ namespace sta
     	};
     	enum GyroRange
 		{
-    		TWOTHOUSAND		= 0x00,
-			ONETHOUSAND		= 0x01,
-			FIVEHUNDRED 	= 0x02,
-			TWOFIFTY		= 0x03,
-			ONETWENTYFIVE	= 0x04
+    		_2000	= 0x00,
+			_1000	= 0x01,
+			_500 	= 0x02,
+			_250	= 0x03,
+			_125	= 0x04
 		};
     	enum GyroBandwidth
 		{
-    		TWOTHOUSAND_FIVETHIRTYTWO	= 0x00,
-			TWOTHOUSAND_TWOTHIRTY		= 0x01,
-			ONETHOUSAND_ONESIXTEEN		= 0x02,
-			FOURHUNDRED_FORTYSEVEN		= 0x03,
-			TWOHUNDRED_TWENTYTHREE		= 0x04,
-			ONEHUNDRED_TWELVE			= 0x05,
-			TWOHUNDRED_SIXTYFOUR		= 0x06,
-			ONEHUNDRED_THIRTYTWO		= 0x07
+    		_2000_532	= 0x00,
+			_2000_230	= 0x01,
+			_1000_116	= 0x02,
+			_400_47		= 0x03,
+			_200_23		= 0x04,
+			_100_12		= 0x05,
+			_200_64		= 0x06,
+			_100_32		= 0x07
 		};
 
     	enum AccelMode
@@ -43,10 +46,10 @@ namespace sta
 		};
     	enum AccelRange
 		{
-			THREEG		= 0x00,
-			SIXG		= 0x01,
-			TWELVEG		= 0x02,
-			TWENTYFOURG	= 0x03
+			_3G		= 0x00,
+			_6G		= 0x01,
+			_12G		= 0x02,
+			_24G	= 0x03
 		};
     	enum AccelBandwidth
 		{
@@ -56,14 +59,14 @@ namespace sta
 		};
     	enum AccelODR
 		{
-    		TWELVE_FIVE		= 0x05,
-			TWENTYFIVE		= 0x06,
-			FIFTY			= 0x07,
-			ONEHUNDRED		= 0x08,
-			TWOHUNDRED		= 0x09,
-			FOURHUNDRED		= 0x0A,
-			EIGHTHUNDRED	= 0x0B,
-			ONESIXHUNDRED	= 0x0C
+    		_12_5	= 0x05,
+			_25		= 0x06,
+			_50		= 0x07,
+			_100	= 0x08,
+			_200	= 0x09,
+			_400	= 0x0A,
+			_800	= 0x0B,
+			_1600	= 0x0C
 		};
 
     private:
@@ -74,7 +77,7 @@ namespace sta
 		};
 
     public:
-        BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device);
+        BMI088(Device* gyro_device, Device* accel_device);
 
         bool init();
 
diff --git a/src/bmi088.cpp b/src/bmi088.cpp
index b5c2689..0a0dd03 100644
--- a/src/bmi088.cpp
+++ b/src/bmi088.cpp
@@ -4,7 +4,7 @@
 
 namespace sta
 {
-    BMI088::BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device)
+    BMI088::BMI088(Device* gyro_device, Device* accel_device)
         : gyro_device{gyro_device}, accel_device(accel_device)
     {
         STA_ASSERT(gyro_device != nullptr);
@@ -17,15 +17,15 @@ namespace sta
     	busRead(GYROSCOPE, BMI088_REG_GYRO_CHIP_ID, &id);
     	if(id != BMI088_GYRO_CHIP_ID) return false;
 
-    	setGyroscopeRange(GyroRange::ONETHOUSAND);
-    	setGyroscopeBandwidth(GyroBandwidth::TWOHUNDRED_SIXTYFOUR);
+    	setGyroscopeRange(GyroRange::_1000);
+    	setGyroscopeBandwidth(GyroBandwidth::_200_64);
     	setGyroscopeMode(GyroMode::NORMAL_AWAKE);
 
     	busRead(ACCELEROMETER, BMI088_REG_ACC_CHIP_ID, &id);
     	if(id != BMI088_ACC_CHIP_ID) return false;
 
-    	setAccelerometerRange(AccelRange::TWENTYFOURG);
-    	setAccelerometerBandwidth(AccelBandwidth::NORMAL_BANDWIDTH, AccelODR::ONEHUNDRED);
+    	setAccelerometerRange(AccelRange::_24G);
+    	setAccelerometerBandwidth(AccelBandwidth::NORMAL_BANDWIDTH, AccelODR::_100);
     	setAccelerometerMode(AccelMode::ON);
 
     	return true;
@@ -41,19 +41,19 @@ namespace sta
 
     	switch(range)
     	{
-    	case TWOTHOUSAND:
+    	case _2000:
     		f_gyro_range = 2000;
     		break;
-    	case ONETHOUSAND:
+    	case _1000:
     		f_gyro_range = 1000;
     		break;
-    	case FIVEHUNDRED:
+    	case _500:
     		f_gyro_range = 500;
     		break;
-    	case TWOFIFTY:
+    	case _250:
     		f_gyro_range = 250;
     		break;
-    	case ONETWENTYFIVE:
+    	case _125:
     		f_gyro_range = 125;
     		break;
     	default:
@@ -102,16 +102,16 @@ namespace sta
 
     	switch(range)
     	{
-    	case THREEG:
+    	case _3G:
     		f_accel_range = 3*9.80665;
     		break;
-    	case SIXG:
+    	case _6G:
     		f_accel_range = 6*9.80665;
     		break;
-    	case TWELVEG:
+    	case _12G:
     		f_accel_range = 12*9.80665;
     		break;
-    	case TWENTYFOURG:
+    	case _24G:
     		f_accel_range = 24*9.80665;
     		break;
     	default: