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Cleaned up MPU driver slightly

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Lorenz Meier
2012-08-27 09:48:16 +02:00
parent 248bb11d93
commit 967c0869a9
1 changed files with 4 additions and 10 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+4 -10
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@@ -818,28 +818,22 @@ MPU6000::measure()
/*
* Convert from big to little endian
*/
// report.accel_x = ((int16_t)(mpu_report.accel_x[0]) << 8);
// report.accel_x |= mpu_report.accel_x[1];
// report.accel_y = ((int16_t)(mpu_report.accel_y[0]) << 8);
// report.accel_y |= mpu_report.accel_y[1];
// report.accel_z = ((int16_t)(mpu_report.accel_z[0]) << 8);
// report.accel_z |= mpu_report.accel_z[1];
report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
report.temp = (((int16_t)mpu_report.temp[0]) << 8) | mpu_report.temp[1];
report.temp = int16_t_from_bytes(mpu_report.temp);
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];
report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
/*
* Swap axes and negate y
*/
int16_t accel_xt = report.accel_y;
int16_t accel_yt = report.accel_x;//((report.accel_x == -32768) ? 32767 : -report.accel_x);
int16_t accel_yt = ((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);