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AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers

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This commit is contained in:
Andrew Tridgell 2014-11-11 17:06:22 +11:00
parent c750cbebfb
commit 986b7bf894
4 changed files with 6 additions and 6 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.cpp
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@ -453,7 +453,7 @@ void AP_InertialSensor_L3GD20::disable_i2c(void)
hal.scheduler->panic(PSTR("L3GD20: Unable to disable I2C"));
}
uint8_t AP_InertialSensor_L3GD20::set_samplerate(uint8_t frequency)
uint8_t AP_InertialSensor_L3GD20::set_samplerate(uint16_t frequency)
{
uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
if (frequency == 0)

2
libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.h
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@ -48,7 +48,7 @@ private:
void _register_write_check(uint8_t reg, uint8_t val);
bool _hardware_init(Sample_rate sample_rate);
void disable_i2c(void);
uint8_t set_samplerate(uint8_t frequency);
uint8_t set_samplerate(uint16_t frequency);
uint8_t set_range(uint8_t max_dps);
AP_HAL::SPIDeviceDriver *_spi;

4
libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.cpp
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@ -585,7 +585,7 @@ uint8_t AP_InertialSensor_LSM303D::accel_set_range(uint8_t max_g)
return 0;
}
uint8_t AP_InertialSensor_LSM303D::accel_set_samplerate(uint8_t frequency)
uint8_t AP_InertialSensor_LSM303D::accel_set_samplerate(uint16_t frequency)
{
uint8_t setbits = 0;
uint8_t clearbits = REG1_RATE_BITS_A;
@ -692,7 +692,7 @@ uint8_t AP_InertialSensor_LSM303D::mag_set_range(uint8_t max_ga)
return 0;
}
uint8_t AP_InertialSensor_LSM303D::mag_set_samplerate(uint8_t frequency)
uint8_t AP_InertialSensor_LSM303D::mag_set_samplerate(uint16_t frequency)
{
uint8_t setbits = 0;
uint8_t clearbits = REG5_RATE_BITS_M;

4
libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.h
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@ -63,10 +63,10 @@ private:
bool _hardware_init(Sample_rate sample_rate);
void disable_i2c(void);
uint8_t accel_set_range(uint8_t max_g);
uint8_t accel_set_samplerate(uint8_t frequency);
uint8_t accel_set_samplerate(uint16_t frequency);
uint8_t accel_set_onchip_lowpass_filter_bandwidth(uint8_t bandwidth);
uint8_t mag_set_range(uint8_t max_ga);
uint8_t mag_set_samplerate(uint8_t frequency);
uint8_t mag_set_samplerate(uint16_t frequency);
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;