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Merged in alessiomorale/librepilot/amorale/LP108_mpu6k_fixes (pull request #45)

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LP-108 - Fix Temp calculation, get rid of floatin point operations within ISR
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Alessio Morale 2015-09-15 23:20:08 +02:00
commit d67f15713f
1 changed files with 2 additions and 1 deletions
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flight/pios/common/pios_mpu6000.c
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@ -598,7 +598,8 @@ static bool PIOS_MPU6000_HandleData()
queue_data->sample[0].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z)); queue_data->sample[0].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z));
queue_data->sample[1].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z)); queue_data->sample[1].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z));
const int16_t temp = GET_SENSOR_DATA(mpu6000_data, Temperature); const int16_t temp = GET_SENSOR_DATA(mpu6000_data, Temperature);
queue_data->temperature = 3500 + ((float)(temp + 512)) * (1.0f / 3.4f); // Temperature in degrees C = (TEMP_OUT Register Value as a signed quantity)/340 + 36.53
queue_data->temperature = 3653 + (temp * 100) / 340;
BaseType_t higherPriorityTaskWoken; BaseType_t higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *)queue_data, &higherPriorityTaskWoken); xQueueSendToBackFromISR(dev->queue, (void *)queue_data, &higherPriorityTaskWoken);