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Merge pull request #190 from PX4/bma180_fix

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Fixed byte readout order and signed value 16 to 14 bit value conversion
This commit is contained in:
px4dev 2013-01-26 11:07:53 -08:00
commit 8a979576b0
1 changed files with 9 additions and 6 deletions
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15
apps/drivers/bma180/bma180.cpp
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@ -714,14 +714,17 @@ BMA180::measure()
* perform only the axis assignment here.
* Two non-value bits are discarded directly
*/
report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 1)) << 8) | (read_reg(ADDR_ACC_X_LSB)); // XXX PX4DEV raw_report.x;
report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 3)) << 8) | (read_reg(ADDR_ACC_X_LSB + 2)); // XXX PX4DEV raw_report.y;
report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 5)) << 8) | (read_reg(ADDR_ACC_X_LSB + 4)); // XXX PX4DEV raw_report.z;
report->y_raw = read_reg(ADDR_ACC_X_LSB + 0);
report->y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
report->x_raw = read_reg(ADDR_ACC_X_LSB + 2);
report->x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
report->z_raw = read_reg(ADDR_ACC_X_LSB + 4);
report->z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
/* discard two non-value bits in the 16 bit measurement */
report->x_raw = (report->x_raw >> 2);
report->y_raw = (report->y_raw >> 2);
report->z_raw = (report->z_raw >> 2);
report->x_raw = (report->x_raw / 4);
report->y_raw = (report->y_raw / 4);
report->z_raw = (report->z_raw / 4);
/* invert y axis, due to 14 bit data no overflow can occur in the negation */
report->y_raw = -report->y_raw;