From d4517d864cf278f0f9e654b0c00efbd97cde4852 Mon Sep 17 00:00:00 2001
From: EnderDocs <89111040+EnderDocs@users.noreply.github.com>
Date: Wed, 31 Dec 2025 12:00:54 +0000
Subject: [PATCH] Refactor temperature calculation in F_BMI160.cpp

Was testing the temperature and getting 140~ when real value dropped below 23.00, the converstion itself had an issue. Tested it.
---
 src/F_BMI160.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/F_BMI160.cpp b/src/F_BMI160.cpp
index 18ddb3a..f0a516a 100644
--- a/src/F_BMI160.cpp
+++ b/src/F_BMI160.cpp
@@ -111,8 +111,8 @@ void BMI160::update() {
 
 	uint8_t buf[2];
 	readBytesI2C(wire, IMUAddress, BMI160_TEMPERATURE_0, 2, &buf[0]);
-	float temp = ((((int16_t)buf[1]) << 8) | buf[0]);
-	temperature = (temp / 512) + 23.f;
+	int16_t raw = ((uint16_t)buf[1] << 8 | (uint16_t)buf[0]); // MSB<<8 | LSB
+	temperature = (float)raw / 512.0f + 23.0f;
 }
 
 void BMI160::getAccel(AccelData* out)
@@ -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;
-}
\ No newline at end of file
+}