Revision f336542d components/gyro/l3g4200d.cpp
| components/gyro/l3g4200d.cpp | ||
|---|---|---|
| 37 | 37 |
this->setName("l3g4200d");
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| 38 | 38 |
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| 39 | 39 |
while (!this->shouldTerminate()) {
|
| 40 |
time += this->period_st; |
|
| 40 |
time += this->period_st;
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| 41 | 41 |
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| 42 | 42 |
updateSensorData(); |
| 43 | 43 |
calcAngular(); |
| ... | ... | |
| 48 | 48 |
chThdSleepUntil(time); |
| 49 | 49 |
} else {
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| 50 | 50 |
chprintf((BaseSequentialStream*) &global.sercanmux1, "WARNING l3g4200d: Unable to keep track\r\n"); |
| 51 |
} |
|
| 51 |
}
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| 52 | 52 |
} |
| 53 | 53 |
return RDY_OK; |
| 54 | 54 |
} |
| ... | ... | |
| 62 | 62 |
int32_t |
| 63 | 63 |
L3G4200D:: |
| 64 | 64 |
getAngularRate_udps(const uint8_t axis) {
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return uint32_t(this->angularRate[axis]) * this->udpsPerTic;
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|
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return int32_t(this->angularRate[axis]) * this->udpsPerTic; |
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| 66 | 66 |
} |
| 67 | 67 |
|
| 68 | 68 |
int32_t |
| ... | ... | |
| 160 | 160 |
case L3G4200D::DR_400_HZ: this->period_us = 2500; break; |
| 161 | 161 |
case L3G4200D::DR_800_HZ: this->period_us = 1250; break; |
| 162 | 162 |
} |
| 163 |
this->period_st = US2ST(this->period_st); |
|
| 163 |
this->period_st = US2ST(this->period_us); |
|
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this->period_ms = this->period_us * 1e-3; |
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| 164 | 165 |
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| 165 | 166 |
// Handle the new full scale |
| 166 | 167 |
switch(config->ctrl1 & L3G4200D::FS_MASK) {
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