Revision f8cf404d components/gyro/l3g4200d.cpp
components/gyro/l3g4200d.cpp | ||
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#include <amiro/bus/spi/HWSPIDriver.hpp> |
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#include <amiro/gyro/l3g4200d.hpp> |
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#include <amiro/Constants.h> |
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#include <global.hpp> |
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using namespace chibios_rt; |
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extern Global global; |
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namespace amiro { |
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L3G4200D::L3G4200D(HWSPIDriver *driver) |
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this->setName("l3g4200d"); |
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while (!this->shouldTerminate()) { |
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time += this->period_st;
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time += this->period_st;
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updateSensorData(); |
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calcAngular(); |
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if (time >= System::getTime()) { |
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chThdSleepUntil(time); |
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} else { |
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chprintf((BaseSequentialStream*) &SD1, "WARNING l3g4200d: Unable to keep track\r\n");
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}
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chprintf((BaseSequentialStream*) &global.sercanmux1, "WARNING l3g4200d: Unable to keep track\r\n");
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}
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} |
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return RDY_OK; |
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} |
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// Reset the integration |
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this->angularReset(); |
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return RDY_OK; |
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} |
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