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removed stop() from I2C driver startup routines, work in progress on MPU scaling

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Lorenz Meier
2012-08-27 09:08:34 +02:00
parent 58b51743f2
commit 248bb11d93
3 changed files with 5 additions and 10 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+5 -5
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@@ -831,7 +831,7 @@ MPU6000::measure()
report.temp = (((int16_t)mpu_report.temp[0]) << 8) | mpu_report.temp[1];
report.gyro_x = ((int16_t)(mpu_report.gyro_x[0]) << 8) | mpu_report.gyro_x[1];
report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x);
report.gyro_y = ((int16_t)(mpu_report.gyro_y[0]) << 8) | mpu_report.gyro_y[1];
report.gyro_z = ((int16_t)(mpu_report.gyro_z[0]) << 8) | mpu_report.gyro_z[1];
@@ -839,7 +839,7 @@ MPU6000::measure()
* Swap axes and negate y
*/
int16_t accel_xt = report.accel_y;
int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
int16_t accel_yt = report.accel_x;//((report.accel_x == -32768) ? 32767 : -report.accel_x);
int16_t gyro_xt = report.gyro_y;
int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
@@ -1030,9 +1030,9 @@ test()
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw", (int)a_report.x_raw);
warnx("acc y: \t%d\traw", (int)a_report.y_raw);
warnx("acc z: \t%d\traw", (int)a_report.z_raw);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / 9.81f));