From 986b7bf894c0a1356ca1d1f466f73cc9d1c27491 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 11 Nov 2014 17:06:22 +1100 Subject: [PATCH] AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers --- libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.h | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.cpp | 4 ++-- libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.h | 4 ++-- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.cpp index dbd35693d9..6a443398e3 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.cpp @@ -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) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.h b/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.h index 8344ad6031..ca7c502339 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.h @@ -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; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.cpp index 80c95d45f4..b6c6b7d341 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.cpp @@ -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; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.h b/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.h index e2b7b08c88..a2c6fa2d10 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM303D.h @@ -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;