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Code Issues Releases Activity

Hardcoded scale for now since it isn't picking up from the cfg structure.

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This commit is contained in:
James Cotton 2012-01-17 19:53:20 -06:00
parent ce2d0fcbb1
commit 1b5e776dc5
3 changed files with 5 additions and 6 deletions
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9
flight/PiOS/STM32F4xx/pios_l3gd20.c
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@ -256,15 +256,14 @@ int32_t PIOS_L3GD20_ReadFifo(struct pios_l3gd20_data * buffer)
float PIOS_L3GD20_GetScale() float PIOS_L3GD20_GetScale()
{ {
return 0.01750f;
switch (cfg->gyro_range) { switch (cfg->gyro_range) {
case PIOS_L3GD20_SCALE_250_DEG: case PIOS_L3GD20_SCALE_250_DEG:
return 1.0f / 131.0f; return 0.00875f;
case PIOS_L3GD20_SCALE_500_DEG: case PIOS_L3GD20_SCALE_500_DEG:
return 1.0f / 65.5f; return 0.01750f;
case PIOS_L3GD20_SCALE_1000_DEG:
return 1.0f / 32.8f;
case PIOS_L3GD20_SCALE_2000_DEG: case PIOS_L3GD20_SCALE_2000_DEG:
return 1.0f / 16.4f; return 0.070f;
} }
return 0; return 0;
} }

1
flight/PiOS/inc/pios_l3gd20.h
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@ -106,7 +106,6 @@
enum pios_l3gd20_range { enum pios_l3gd20_range {
PIOS_L3GD20_SCALE_250_DEG = 0x00, PIOS_L3GD20_SCALE_250_DEG = 0x00,
PIOS_L3GD20_SCALE_500_DEG = 0x08, PIOS_L3GD20_SCALE_500_DEG = 0x08,
PIOS_L3GD20_SCALE_1000_DEG = 0x10,
PIOS_L3GD20_SCALE_2000_DEG = 0x18 PIOS_L3GD20_SCALE_2000_DEG = 0x18
}; };

1
flight/Revolution/System/pios_board.c
View File

@ -1526,6 +1526,7 @@ static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
.NVIC_IRQChannelCmd = ENABLE, .NVIC_IRQChannelCmd = ENABLE,
}, },
}, },
.gyro_range = PIOS_L3GD20_SCALE_500_DEG,
}; };
/** /**