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Code Issues Releases Activity

Make sensors return data as int16 array instead of struct

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This commit is contained in:
James Cotton 2011-05-26 02:49:25 -05:00
parent 20775e806c
commit 74b9c58f39
4 changed files with 19 additions and 9 deletions
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16
flight/PiOS/Common/pios_bma180.c
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@ -149,11 +149,12 @@ void PIOS_BMA180_Init()
/**
* @brief Read a single set of values from the x y z channels
* @param[out] data Int16 array of (x,y,z) sensor values
* @returns 0 if successful
* @retval -1 unable to claim bus
* @retval -2 unable to transfer data
*/
int32_t PIOS_BMA180_Read(struct pios_bma180_data * data)
int32_t PIOS_BMA180_ReadAccels(int16_t * data)
{
// To save memory use same buffer for in and out but offset by
// a byte
@ -167,9 +168,12 @@ int32_t PIOS_BMA180_Read(struct pios_bma180_data * data)
PIOS_BMA180_ReleaseBus();
// | MSB | LSB | 0 | new_data |
data->x = ( (rec[2] << 8) | rec[1] ) / 4;
data->y = ( (rec[4] << 8) | rec[3] ) / 4;
data->z = ( (rec[6] << 8) | rec[5] ) / 4;
data[0] = (rec[2] << 8) | rec[1];
data[1] = (rec[4] << 8) | rec[3];
data[2] = (rec[6] << 8) | rec[5];
data[0] /= 4;
data[1] /= 4;
data[2] /= 4;
return 0; // return number of remaining entries
}
@ -200,8 +204,8 @@ int32_t PIOS_BMA180_Test()
return -2;
PIOS_BMA180_ReleaseBus();
struct pios_bma180_data data;
if(PIOS_BMA180_Read(&data) != 0)
int16_t data[3];
if(PIOS_BMA180_ReadAccels(data) != 0)
return -3;
if(rec[1] != 0x3)

8
flight/PiOS/Common/pios_imu3000.c
View File

@ -132,8 +132,14 @@ static void PIOS_IMU3000_Config(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Stru
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
* \returns The number of samples remaining in the fifo
*/
uint8_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data)
int32_t PIOS_IMU3000_ReadGyros(int16_t * data)
{
uint8_t buf[6];
if(PIOS_IMU3000_Read(PIOS_IMU3000_GYRO_X_OUT_MSB, (uint8_t *) buf, sizeof(buf)) < 0)
return -1;
data[0] = buf[0] << 8 | buf[1];
data[1] = buf[2] << 8 | buf[3];
data[2] = buf[4] << 8 | buf[5];
return 0;
}

2
flight/PiOS/inc/pios_bma180.h
View File

@ -77,7 +77,7 @@ struct pios_bma180_data {
/* Public Functions */
void PIOS_BMA180_Attach(uint32_t spi_id);
void PIOS_BMA180_Init();
int32_t PIOS_BMA180_Read(struct pios_bma180_data * data);
int32_t PIOS_BMA180_ReadAccels(int16_t * data);
int32_t PIOS_BMA180_Test();
#endif /* PIOS_BMA180_H */

2
flight/PiOS/inc/pios_imu3000.h
View File

@ -119,7 +119,7 @@ struct pios_imu3000_data {
/* Public Functions */
extern void PIOS_IMU3000_Init(void);
extern bool PIOS_IMU3000_NewDataAvailable(void);
extern uint8_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data);
extern int32_t PIOS_IMU3000_ReadGyros(int16_t * data);
extern int32_t PIOS_IMU3000_ReadID();
extern uint8_t PIOS_IMU3000_Test();