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authorSebastian Reichel <sre@ring0.de>2012-10-30 11:19:10 +0100
committerSebastian Reichel <sre@ring0.de>2012-10-30 11:19:10 +0100
commita0bd460f7f901d48d111511d9e7c2d92aaac0fa2 (patch)
treef8278ea6dfc91ed40184d57de9d4f1a3e98a737d
parent7a65e7f29e526e99636438bbb529f87bf87b8c66 (diff)
downloadmicrocopterd-a0bd460f7f901d48d111511d9e7c2d92aaac0fa2.tar.bz2
update rate
-rw-r--r--sensors/gyroscope.vala11
-rw-r--r--sensors/gyroscope/Makefile2
-rw-r--r--sensors/gyroscope/itg3200.vala8
3 files changed, 8 insertions, 13 deletions
diff --git a/sensors/gyroscope.vala b/sensors/gyroscope.vala
index 07452ec..1ef10b2 100644
--- a/sensors/gyroscope.vala
+++ b/sensors/gyroscope.vala
@@ -14,16 +14,7 @@
*/
public interface Gyroscope : Device {
-#if 0
- double[] rate = {0.0, 0.0, 0.0};
- int[] zero = {0, 0, 0};
- long[] sample = {0, 0, 0};
- double smoothFactor = 1.0;
- double scaleFactor = 0.0;
- double heading = 0.0;
- ulong gyroLastMesuredTime = 0;
-#endif
public abstract void init(KeyFile cfg) throws Error;
public abstract void get_data(out double x, out double y, out double z) throws I2CError;
- public abstract int[] rate { get; set; }
+ public abstract double[] rate { get; set; }
}
diff --git a/sensors/gyroscope/Makefile b/sensors/gyroscope/Makefile
index 09ec45f..46435ec 100644
--- a/sensors/gyroscope/Makefile
+++ b/sensors/gyroscope/Makefile
@@ -6,7 +6,7 @@ clean:
rm -f *.c *.so
itg3200.c: itg3200.vala
- $(VALAC) -g --pkg gmodule-2.0 --pkg posix --pkg linux -C $< ../gyroscope.vala ../../hw/i2c-device.vala ../../hw/device.vala ../../enums.vala
+ $(VALAC) -g --pkg gmodule-2.0 --pkg posix --pkg linux -C $< ../gyroscope.vala ../../hw/i2c-device.vala ../../hw/device.vala ../../enums.vala ../../utils.vala
ITG3200.so: itg3200.c
$(CC) -g -shared -fPIC `pkg-config --cflags --libs glib-2.0 gobject-2.0 gmodule-2.0` -o $@ $<
diff --git a/sensors/gyroscope/itg3200.vala b/sensors/gyroscope/itg3200.vala
index e616848..bc99769 100644
--- a/sensors/gyroscope/itg3200.vala
+++ b/sensors/gyroscope/itg3200.vala
@@ -14,7 +14,7 @@
*/
public class ITG3200 : I2CDevice, Gyroscope {
- public int[] rate { get; set; }
+ public double[] rate { get; set; }
private int[] zero = new int[3];
/* ITG3200 14.375 LSBs per °/sec in radians */
@@ -37,7 +37,7 @@ public class ITG3200 : I2CDevice, Gyroscope {
}
public void init(KeyFile cfg) throws KeyFileError, I2CError {
- rate = new int[3];
+ rate = new double[3];
var adapter = cfg.get_uint64("ITG3200", "i2c-adapter");
var address = cfg.get_uint64("ITG3200", "i2c-address");
@@ -88,6 +88,10 @@ public class ITG3200 : I2CDevice, Gyroscope {
x = ((int16) get_big_word(0x1d)-zero[AXIS.X]) / scale;
y = ((int16) get_big_word(0x1f)-zero[AXIS.Y]) / scale;
z = ((int16) get_big_word(0x21)-zero[AXIS.Z]) / scale;
+
+ rate[AXIS.X] = radians(x);
+ rate[AXIS.Y] = radians(y);
+ rate[AXIS.Z] = radians(z);
}
}