fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 16:09:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Make the buffer ring work.

Browse Source 
Avoid reading from the misaligned structure more than once.
Discard some redundant whitespace / prototype.
This commit is contained in:
px4dev 2012-08-30 22:32:42 -07:00
parent 2e4424f405
commit 1e80bd544b
1 changed files with 10 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -146,9 +146,6 @@ static const int ERROR = -1;
#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)
#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)
extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
class L3GD20 : public device::SPI
@ -268,12 +265,6 @@ private:
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
/*
* Driver 'main' command.
*/
extern "C" { int l3gd20_main(int argc, char *argv[]); }
L3GD20::L3GD20(int bus, spi_dev_e device) :
SPI("L3GD20", GYRO_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
@ -689,12 +680,19 @@ L3GD20::measure()
report->y_raw = raw_report.y;
report->z_raw = raw_report.z;
report->x = ((raw_report.x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report->y = ((raw_report.y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report->z = ((raw_report.z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report->scaling = _gyro_range_scale;
report->range_rad_s = _gyro_range_rad_s;
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, fix it */
if (_next_report == _oldest_report)
INCREMENT(_oldest_report, _num_reports);
/* notify anyone waiting for data */
poll_notify(POLLIN);