1 files changed, 55 insertions, 64 deletions

diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c
index 17966b81f..b4f683452 100644
--- a/drivers/sensors/adns9800.c
+++ b/drivers/sensors/adns9800.c
@@ -20,57 +20,57 @@
 #include "adns9800.h"
 
 // registers
-#define REG_Product_ID                           0x00
-#define REG_Revision_ID                          0x01
-#define REG_Motion                               0x02
-#define REG_Delta_X_L                            0x03
-#define REG_Delta_X_H                            0x04
-#define REG_Delta_Y_L                            0x05
-#define REG_Delta_Y_H                            0x06
-#define REG_SQUAL                                0x07
-#define REG_Pixel_Sum                            0x08
-#define REG_Maximum_Pixel                        0x09
-#define REG_Minimum_Pixel                        0x0a
-#define REG_Shutter_Lower                        0x0b
-#define REG_Shutter_Upper                        0x0c
-#define REG_Frame_Period_Lower                   0x0d
-#define REG_Frame_Period_Upper                   0x0e
-#define REG_Configuration_I                      0x0f
-#define REG_Configuration_II                     0x10
-#define REG_Frame_Capture                        0x12
-#define REG_SROM_Enable                          0x13
-#define REG_Run_Downshift                        0x14
-#define REG_Rest1_Rate                           0x15
-#define REG_Rest1_Downshift                      0x16
-#define REG_Rest2_Rate                           0x17
-#define REG_Rest2_Downshift                      0x18
-#define REG_Rest3_Rate                           0x19
-#define REG_Frame_Period_Max_Bound_Lower         0x1a
-#define REG_Frame_Period_Max_Bound_Upper         0x1b
-#define REG_Frame_Period_Min_Bound_Lower         0x1c
-#define REG_Frame_Period_Min_Bound_Upper         0x1d
-#define REG_Shutter_Max_Bound_Lower              0x1e
-#define REG_Shutter_Max_Bound_Upper              0x1f
-#define REG_LASER_CTRL0                          0x20
-#define REG_Observation                          0x24
-#define REG_Data_Out_Lower                       0x25
-#define REG_Data_Out_Upper                       0x26
-#define REG_SROM_ID                              0x2a
-#define REG_Lift_Detection_Thr                   0x2e
-#define REG_Configuration_V                      0x2f
-#define REG_Configuration_IV                     0x39
-#define REG_Power_Up_Reset                       0x3a
-#define REG_Shutdown                             0x3b
-#define REG_Inverse_Product_ID                   0x3f
-#define REG_Motion_Burst                         0x50
-#define REG_SROM_Load_Burst                      0x62
-#define REG_Pixel_Burst                          0x64
+#define REG_Product_ID 0x00
+#define REG_Revision_ID 0x01
+#define REG_Motion 0x02
+#define REG_Delta_X_L 0x03
+#define REG_Delta_X_H 0x04
+#define REG_Delta_Y_L 0x05
+#define REG_Delta_Y_H 0x06
+#define REG_SQUAL 0x07
+#define REG_Pixel_Sum 0x08
+#define REG_Maximum_Pixel 0x09
+#define REG_Minimum_Pixel 0x0a
+#define REG_Shutter_Lower 0x0b
+#define REG_Shutter_Upper 0x0c
+#define REG_Frame_Period_Lower 0x0d
+#define REG_Frame_Period_Upper 0x0e
+#define REG_Configuration_I 0x0f
+#define REG_Configuration_II 0x10
+#define REG_Frame_Capture 0x12
+#define REG_SROM_Enable 0x13
+#define REG_Run_Downshift 0x14
+#define REG_Rest1_Rate 0x15
+#define REG_Rest1_Downshift 0x16
+#define REG_Rest2_Rate 0x17
+#define REG_Rest2_Downshift 0x18
+#define REG_Rest3_Rate 0x19
+#define REG_Frame_Period_Max_Bound_Lower 0x1a
+#define REG_Frame_Period_Max_Bound_Upper 0x1b
+#define REG_Frame_Period_Min_Bound_Lower 0x1c
+#define REG_Frame_Period_Min_Bound_Upper 0x1d
+#define REG_Shutter_Max_Bound_Lower 0x1e
+#define REG_Shutter_Max_Bound_Upper 0x1f
+#define REG_LASER_CTRL0 0x20
+#define REG_Observation 0x24
+#define REG_Data_Out_Lower 0x25
+#define REG_Data_Out_Upper 0x26
+#define REG_SROM_ID 0x2a
+#define REG_Lift_Detection_Thr 0x2e
+#define REG_Configuration_V 0x2f
+#define REG_Configuration_IV 0x39
+#define REG_Power_Up_Reset 0x3a
+#define REG_Shutdown 0x3b
+#define REG_Inverse_Product_ID 0x3f
+#define REG_Motion_Burst 0x50
+#define REG_SROM_Load_Burst 0x62
+#define REG_Pixel_Burst 0x64
 
 #define ADNS_CLOCK_SPEED 2000000
 #define MIN_CPI 200
 #define MAX_CPI 8200
 #define CPI_STEP 200
-#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value
+#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
 #define SPI_MODE 3
 #define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED)
 #define US_BETWEEN_WRITES 120
@@ -80,12 +80,9 @@
 
 extern const uint8_t firmware_data[];
 
-void adns_spi_start(void){
-    spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR);
-}
-
-void adns_write(uint8_t reg_addr, uint8_t data){
+void adns_spi_start(void) { spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR); }
 
+void adns_write(uint8_t reg_addr, uint8_t data) {
     adns_spi_start();
     spi_write(reg_addr | MSB1);
     spi_write(data);
@@ -93,10 +90,9 @@ void adns_write(uint8_t reg_addr, uint8_t data){
     wait_us(US_BETWEEN_WRITES);
 }
 
-uint8_t adns_read(uint8_t reg_addr){
-
+uint8_t adns_read(uint8_t reg_addr) {
     adns_spi_start();
-    spi_write(reg_addr & 0x7f );
+    spi_write(reg_addr & 0x7f);
     uint8_t data = spi_read();
     spi_stop();
     wait_us(US_BETWEEN_READS);
@@ -105,7 +101,6 @@ uint8_t adns_read(uint8_t reg_addr){
 }
 
 void adns_init() {
-
     setPinOutput(SPI_SS_PIN);
 
     spi_init();
@@ -144,7 +139,7 @@ void adns_init() {
 
     // send all bytes of the firmware
     unsigned char c;
-    for(int i = 0; i < FIRMWARE_LENGTH; i++){
+    for (int i = 0; i < FIRMWARE_LENGTH; i++) {
         c = (unsigned char)pgm_read_byte(firmware_data + i);
         spi_write(c);
         wait_us(15);
@@ -161,7 +156,7 @@ void adns_init() {
 
 config_adns_t adns_get_config(void) {
     uint8_t config_1 = adns_read(REG_Configuration_I);
-    return (config_adns_t){ (config_1 & 0xFF) * CPI_STEP };
+    return (config_adns_t){(config_1 & 0xFF) * CPI_STEP};
 }
 
 void adns_set_config(config_adns_t config) {
@@ -169,20 +164,17 @@ void adns_set_config(config_adns_t config) {
     adns_write(REG_Configuration_I, config_1);
 }
 
-static int16_t convertDeltaToInt(uint8_t high, uint8_t low){
-
+static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
     // join bytes into twos compliment
     uint16_t twos_comp = (high << 8) | low;
 
     // convert twos comp to int
-    if (twos_comp & 0x8000)
-        return -1 * (~twos_comp + 1);
+    if (twos_comp & 0x8000) return -1 * (~twos_comp + 1);
 
     return twos_comp;
 }
 
 report_adns_t adns_get_report(void) {
-
     report_adns_t report = {0, 0};
 
     adns_spi_start();
@@ -194,8 +186,7 @@ report_adns_t adns_get_report(void) {
 
     uint8_t motion = spi_read();
 
-    if(motion & 0x80) {
-
+    if (motion & 0x80) {
         // clear observation register
         spi_read();