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Added temperature measurement, added led system command

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Lorenz Meier
2012-09-01 19:56:42 +02:00
parent 1cebdf6fb2
commit cf62c892f9
5 changed files with 262 additions and 7 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+10
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@@ -877,6 +877,9 @@ MPU6000::measure()
_accel_report.scaling = _accel_range_scale;
_accel_report.range_m_s2 = _accel_range_m_s2;
_accel_report.temperature_raw = report.temp;
_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
_gyro_report.x_raw = report.gyro_x;
_gyro_report.y_raw = report.gyro_y;
_gyro_report.z_raw = report.gyro_z;
@@ -887,6 +890,9 @@ MPU6000::measure()
_gyro_report.scaling = _gyro_range_scale;
_gyro_report.range_rad_s = _gyro_range_rad_s;
_gyro_report.temperature_raw = report.temp;
_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
/* notify anyone waiting for data */
poll_notify(POLLIN);
_gyro->parent_poll_notify();
@@ -1041,6 +1047,10 @@ test()
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
/* XXX add poll-rate tests here too */
reset();