chore(bhi160): Make mapping matrices const

They won't get modified, so make them const.  Also reformat a bit so
they look prettier.

Signed-off-by: Rahix <rahix@rahix.de>

epicardium/modules/bhi.c

@@ -24,9 +24,18 @@ static const gpio_cfg_t bhi160_interrupt_pin = {
 	PORT_0, PIN_13, GPIO_FUNC_IN, GPIO_PAD_PULL_UP
 };
 
+/* clang-format off */
 /* Axis remapping matrices */
-static int8_t bhi160_mapping_matrix[3 * 3] = { 0, -1, 0, 1, 0, 0, 0, 0, 1 };
-static int8_t bmm150_mapping_matrix[3 * 3] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };
+static const int8_t bhi160_mapping_matrix[3 * 3] = {
+	 0, -1,  0,
+	 1,  0,  0,
+	 0,  0,  1,
+};
+static const int8_t bmm150_mapping_matrix[3 * 3] = {
+	-1,  0,  0,
+	 0,  1,  0,
+	 0,  0, -1,
+};
 
 /*
  * From the official docs:
@@ -38,10 +47,11 @@ static int8_t bmm150_mapping_matrix[3 * 3] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };
  *
  * TODO: Get data for card10
  */
-/* clang-format off */
-static float bhi160_sic_array[3 * 3] = { 1.0, 0.0, 0.0,
-                                         0.0, 1.0, 0.0,
-                                         0.0, 0.0, 1.0 };
+static const float bhi160_sic_array[3 * 3] = {
+	1.0f, 0.0f, 0.0f,
+	0.0f, 1.0f, 0.0f,
+	0.0f, 0.0f, 1.0f,
+};
 /* clang-format on */
 
 /* BHI160 Task ID */
@@ -519,20 +529,20 @@ void vBhi160Task(void *pvParameters)
 	 * should fix this properly at some point.
 	 */
 	bhy_mapping_matrix_set(
-		PHYSICAL_SENSOR_INDEX_ACC, bhi160_mapping_matrix
+		PHYSICAL_SENSOR_INDEX_ACC, (int8_t *)bhi160_mapping_matrix
 	);
 	bhy_mapping_matrix_set(
-		PHYSICAL_SENSOR_INDEX_ACC, bhi160_mapping_matrix
+		PHYSICAL_SENSOR_INDEX_ACC, (int8_t *)bhi160_mapping_matrix
 	);
 	bhy_mapping_matrix_set(
-		PHYSICAL_SENSOR_INDEX_MAG, bmm150_mapping_matrix
+		PHYSICAL_SENSOR_INDEX_MAG, (int8_t *)bmm150_mapping_matrix
 	);
 	bhy_mapping_matrix_set(
-		PHYSICAL_SENSOR_INDEX_GYRO, bhi160_mapping_matrix
+		PHYSICAL_SENSOR_INDEX_GYRO, (int8_t *)bhi160_mapping_matrix
 	);
 
 	/* Set "SIC" matrix.  TODO: Find out what this is about */
-	bhy_set_sic_matrix(bhi160_sic_array);
+	bhy_set_sic_matrix((float *)bhi160_sic_array);
 
 	hwlock_release(HWLOCK_I2C);
 	mutex_unlock(&bhi160_mutex);