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Checked axes of LSM303D

This commit is contained in:
Julian Oes 2013-04-08 23:47:19 -07:00 committed by Lorenz Meier
parent 1d327c42a6
commit 3469fefe11
1 changed files with 4 additions and 6 deletions
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10
src/drivers/lsm303d/lsm303d.cpp
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@ -1067,7 +1067,6 @@ LSM303D::measure()
raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT; raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report)); transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report));
/* XXX adapt the comment to specs */
/* /*
* 1) Scale raw value to SI units using scaling from datasheet. * 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units) * 2) Subtract static offset (in SI units)
@ -1085,7 +1084,7 @@ LSM303D::measure()
accel_report->timestamp = hrt_absolute_time(); accel_report->timestamp = hrt_absolute_time();
/* XXX adjust for sensor alignment to board here */
accel_report->x_raw = raw_accel_report.x; accel_report->x_raw = raw_accel_report.x;
accel_report->y_raw = raw_accel_report.y; accel_report->y_raw = raw_accel_report.y;
accel_report->z_raw = raw_accel_report.z; accel_report->z_raw = raw_accel_report.z;
@ -1136,7 +1135,6 @@ LSM303D::mag_measure()
raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT; raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report)); transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report));
/* XXX adapt the comment to specs */
/* /*
* 1) Scale raw value to SI units using scaling from datasheet. * 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units) * 2) Subtract static offset (in SI units)
@ -1154,15 +1152,15 @@ LSM303D::mag_measure()
mag_report->timestamp = hrt_absolute_time(); mag_report->timestamp = hrt_absolute_time();
/* XXX adjust for sensor alignment to board here */
mag_report->x_raw = raw_mag_report.x; mag_report->x_raw = raw_mag_report.x;
mag_report->y_raw = raw_mag_report.y; mag_report->y_raw = raw_mag_report.y;
mag_report->z_raw = raw_mag_report.z; mag_report->z_raw = raw_mag_report.z;
mag_report->x = ((mag_report->x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; mag_report->x = ((mag_report->x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
mag_report->y = ((mag_report->y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale; mag_report->y = ((mag_report->y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report->z = ((mag_report->z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale; mag_report->z = ((mag_report->z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
// report->scaling = _gyro_range_scale; mag_report->scaling = _mag_range_scale;
// report->range_rad_s = _gyro_range_rad_s; mag_report->range_ga = _mag_range_ga;
/* post a report to the ring - note, not locked */ /* post a report to the ring - note, not locked */
INCREMENT(_next_mag_report, _num_mag_reports); INCREMENT(_next_mag_report, _num_mag_reports);