uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp

This commit is contained in:
uncrustify 2012-08-16 23:19:56 -07:00 committed by Pat Hickey
parent bc6d3811bc
commit 9d7ca3a876
1 changed files with 1050 additions and 915 deletions

View File

@ -165,17 +165,17 @@
uint8_t AP_InertialSensor_MPU6000::_cs_pin; uint8_t AP_InertialSensor_MPU6000::_cs_pin;
/* /*
RS-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of * RS-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of
gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3) * gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3)
*/ */
const float AP_InertialSensor_MPU6000::_gyro_scale = (0.0174532 / 16.4); const float AP_InertialSensor_MPU6000::_gyro_scale = (0.0174532 / 16.4);
/* /*
RS-MPU-6000A-00.pdf, page 31, section 4.23 lists LSB sensitivity of * RS-MPU-6000A-00.pdf, page 31, section 4.23 lists LSB sensitivity of
accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2) * accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2)
*
See note below about accel scaling of engineering sample MPU6k * See note below about accel scaling of engineering sample MPU6k
variants however * variants however
*/ */
const float AP_InertialSensor_MPU6000::_accel_scale = 9.81 / 4096.0; const float AP_InertialSensor_MPU6000::_accel_scale = 9.81 / 4096.0;
@ -275,9 +275,15 @@ bool AP_InertialSensor_MPU6000::new_data_available( void )
return _count != 0; return _count != 0;
} }
float AP_InertialSensor_MPU6000::gx() { return _gyro.x; } float AP_InertialSensor_MPU6000::gx() {
float AP_InertialSensor_MPU6000::gy() { return _gyro.y; } return _gyro.x;
float AP_InertialSensor_MPU6000::gz() { return _gyro.z; } }
float AP_InertialSensor_MPU6000::gy() {
return _gyro.y;
}
float AP_InertialSensor_MPU6000::gz() {
return _gyro.z;
}
void AP_InertialSensor_MPU6000::get_gyros( float * g ) void AP_InertialSensor_MPU6000::get_gyros( float * g )
{ {
@ -286,9 +292,15 @@ void AP_InertialSensor_MPU6000::get_gyros( float * g )
g[2] = _gyro.z; g[2] = _gyro.z;
} }
float AP_InertialSensor_MPU6000::ax() { return _accel.x; } float AP_InertialSensor_MPU6000::ax() {
float AP_InertialSensor_MPU6000::ay() { return _accel.y; } return _accel.x;
float AP_InertialSensor_MPU6000::az() { return _accel.z; } }
float AP_InertialSensor_MPU6000::ay() {
return _accel.y;
}
float AP_InertialSensor_MPU6000::az() {
return _accel.z;
}
void AP_InertialSensor_MPU6000::get_accels( float * a ) void AP_InertialSensor_MPU6000::get_accels( float * a )
{ {
@ -307,7 +319,9 @@ void AP_InertialSensor_MPU6000::get_sensors( float * sensors )
sensors[5] = _accel.z; sensors[5] = _accel.z;
} }
float AP_InertialSensor_MPU6000::temperature() { return _temp; } float AP_InertialSensor_MPU6000::temperature() {
return _temp;
}
uint32_t AP_InertialSensor_MPU6000::sample_time() uint32_t AP_InertialSensor_MPU6000::sample_time()
{ {
@ -333,8 +347,8 @@ static int16_t spi_transfer_16(void)
} }
/* /*
this is called from a timer interrupt to read data from the MPU6000 * this is called from a timer interrupt to read data from the MPU6000
and add it to _sum[] * and add it to _sum[]
*/ */
void AP_InertialSensor_MPU6000::read(uint32_t ) void AP_InertialSensor_MPU6000::read(uint32_t )
{ {
@ -908,380 +922,501 @@ void AP_InertialSensor_MPU6000::dmp_load_mem()
const uint8_t dmpMem[8][16][16] PROGMEM = { const uint8_t dmpMem[8][16][16] PROGMEM = {
{ {
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0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91 } 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91
}
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{ {
0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8 } 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8
}
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{ {
0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE } 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE
}
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{ {
0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9 } 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9
}
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{ {
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}
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{ {
0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E } 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E
}
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{ {
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}
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{ {
0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89 } 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89
}
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{ {
0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79 } 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79
}
} }
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{ {
{ {
0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8 } 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8
}
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{ {
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}
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{ {
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}
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{ {
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}
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{ {
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}
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{ {
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}
, ,
{ {
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}
, ,
{ {
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}
, ,
{ {
0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF } 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
}
} }
}; };