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Improved LIS3MDL driver and related demo: improved sensitivity handling. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9821 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-09-28 23:29:21 +00:00
parent 21c467fb5a
commit 4ca399b1af
2 changed files with 5 additions and 5 deletions
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2
os/ex/ST/lis3mdl.c
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@ -151,7 +151,7 @@ static msg_t read_cooked(void *ip, float axes[]) {
msg = read_raw(ip, raw); msg = read_raw(ip, raw);
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i]; axes[i] = raw[i] * ((LIS3MDLDriver *)ip)->sensitivity[i];
axes[i] -= ((LIS3MDLDriver *)ip)->bias[i]; axes[i] -= ((LIS3MDLDriver *)ip)->bias[i];
} }
return msg; return msg;

8
os/ex/ST/lis3mdl.h
View File

@ -70,10 +70,10 @@
#define LIS3MDL_12GA 12.0f #define LIS3MDL_12GA 12.0f
#define LIS3MDL_16GA 16.0f #define LIS3MDL_16GA 16.0f
#define LIS3MDL_SENS_4GA 6842.0f #define LIS3MDL_SENS_4GA 0.00014615f
#define LIS3MDL_SENS_8GA 3421.0f #define LIS3MDL_SENS_8GA 0.00029231f
#define LIS3MDL_SENS_12GA 2281.0f #define LIS3MDL_SENS_12GA 0.0004384f
#define LIS3MDL_SENS_16GA 1711.0f #define LIS3MDL_SENS_16GA 0.00058445f
/** @} */ /** @} */
/** /**