From a0bd460f7f901d48d111511d9e7c2d92aaac0fa2 Mon Sep 17 00:00:00 2001
From: Sebastian Reichel <sre@ring0.de>
Date: Tue, 30 Oct 2012 11:19:10 +0100
Subject: update rate

---
 sensors/gyroscope.vala         | 11 +----------
 sensors/gyroscope/Makefile     |  2 +-
 sensors/gyroscope/itg3200.vala |  8 ++++++--
 3 files changed, 8 insertions(+), 13 deletions(-)

(limited to 'sensors')

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);
 	}
 }
 
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