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AP_InertialSensor: fixed sign of 16 bit SPI transfer 

this gets accels and gyros working again
This commit is contained in:
Andrew Tridgell 2012-12-07 08:38:40 +11:00
parent dbcc4fc6a5
commit c9a81d7de6
1 changed files with 9 additions and 4 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -302,6 +302,14 @@ float AP_InertialSensor_MPU6000::temperature() {
/*================ HARDWARE FUNCTIONS ==================== */
static int16_t spi_transfer_16(AP_HAL::SPIDeviceDriver *_spi)
{
uint8_t byte_H, byte_L;
byte_H = _spi->transfer(0);
byte_L = _spi->transfer(0);
return (((int16_t)byte_H)<<8) | byte_L;
}
/*
* this is called from the data_interrupt which fires when the MPU6000 has new
* sensor data available and add it to _sum[] to ensure this is the case,
@ -330,10 +338,7 @@ void AP_InertialSensor_MPU6000::read(uint32_t)
uint8_t addr = MPUREG_ACCEL_XOUT_H | 0x80;
_spi->transfer(addr);
for (uint8_t i=0; i<7; i++) {
uint8_t hi = _spi->transfer(0);
uint8_t lo =_spi->transfer(0);
uint16_t b = (((int16_t)hi)<<8) | lo;
_sum[i] += b;
_sum[i] += spi_transfer_16(_spi);
}
_spi->cs_release();